diff --git a/.gitattributes b/.gitattributes
index 84337afc6fa409ddd0c83aeef49a9a1d916a5099..8d58dc458691122dc35e255f2752cef54b3bede2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -286,3 +286,205 @@ assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote
 assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
 assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
 assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_kitchen_storage_03758534dd2a3a8303e742cf4fc10fedd4c48843_fbe3cdd722b0/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/imported_geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/geometry/geometry.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..14d12abd66899b2d0e2a242ae6d674b7e8af30b8
--- /dev/null
+++ b/assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82df3d5c26dd13f3840b21c1204f33662bdfafca7510fc768843bb00d36455e4
+size 750286
diff --git a/assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/textures/render_png_texture0.png b/assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/textures/render_png_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24f89c4f97ffeeac455e2be0cac60d8f216410d3
--- /dev/null
+++ b/assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/geometry/textures/render_png_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4c82bc3855d9eefc454c257e04317de19970afd083a0a1f36f03a31da2b2456
+size 24347
diff --git a/assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/geometry/textures/render_png_texture0.png b/assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/geometry/textures/render_png_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e258a5bcc0194de7b79abc7599e6091c987a36a5
--- /dev/null
+++ b/assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/geometry/textures/render_png_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9baafdf11279fd694dbc63480efe35b9dc5889e67863664786da0e614a5bc60c
+size 10665
diff --git a/assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/geometry/textures/render_png_texture1.png b/assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/geometry/textures/render_png_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..38d3fae8711e568531be37938bfcd2e88af5145c
--- /dev/null
+++ b/assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/geometry/textures/render_png_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e0a99b5a82c6746451254c7134f636f5e653cba015cce85f85f82bb340cb56
+size 33542
diff --git a/assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..42f63e11f9a254ba916c3fb2c4da77d46b30fc03
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa5191d0b82cf474bf9a80b2d36d0bea925f33f5283fdcfcdcbdab237c49000
+size 387254
diff --git a/assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/textures/render_png_texture0.png b/assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/textures/render_png_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..96bdcc8426bd25cd10f48e0d91ffe002e89e087a
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_00258bed0c6e87a14e33c3eebffc48c898135698_d4c46587e55e/geometry/textures/render_png_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd349f6f2a49185619b341f773045400b55fd022ebca1d258a83884637787a89
+size 38233
diff --git a/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cf147fc2a7e06bd6cc2fdbf31a6d686bd9638823
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4889c6620f0339441e4e9dceaf3d38df127556a352acfe3edd29ac0268dbb8f4
+size 355435
diff --git a/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/textures/render_png_texture0.png b/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/textures/render_png_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7e7dd3d9cf47036c6bd0e904fda973e55c426f7
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/textures/render_png_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1b1f522fdfbc6fe4d8c04cefe2458c67021333107c58e8ea69e421c69e15150
+size 1995
diff --git a/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/textures/render_png_texture1.png b/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/textures/render_png_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..377b383b9e0e264e758c2bcfdc57643749bfa7ef
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_004e36a469b1e97720f54b114d251782cd41bfaa_e7c15aad68d7/geometry/textures/render_png_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ddffed9b79168c03c43a2822ab6d50dbec848e70c4e2256a9d013ac7edfbe0
+size 14429
diff --git a/assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6fd34e1f74d6895223a48aac7d385c328dfd6cd4
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c79fb07811de21f55d4cb8e2cc90e5cc10f7df1c0e2f41025e0fb347a351e89c
+size 151208
diff --git a/assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/textures/render_png_texture0.png b/assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/textures/render_png_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c03b993a01eb182883a4f0738bca62a8828a61a
--- /dev/null
+++ b/assets/scene_augmentation/hssd_decor_03569aed377a86f80ab87191174ae47b5332b77a_bb92158d0118/geometry/textures/render_png_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb09a6b802cace26d38ac494a1aaef44832f8d21657dc1bf105a83d9428a9c8a
+size 26112
diff --git a/assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5a17e81bf1bcaecbbd1bf830124fe68910df369d
--- /dev/null
+++ b/assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500c8a4e9ec2f92112b15a4dfbc7d1890cb7fa9e08b1fb1021b5eb4df57b4b99
+size 119479
diff --git a/assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1915532ed87acf0e7abc36753c9966d48475dd9a
--- /dev/null
+++ b/assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f70e2fb34de59f1c05462261ca048d9b338ee69d791ead7799a0a718aa60a22
+size 737452
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..692cb13f70cbd72a471609894c9ed694c9268408
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64856f71d4213cd17445f4ef56183be60c4a630f99c225cafd09b20eee8ffabc
+size 738726
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture0.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..48fd7cac7676cf3f13c7260249a8e070da6075d3
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ec518cc7cb1dffee2d7bf384d37b596e2918d339eb95ac4faea758d08a6675c
+size 147
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture1.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e91e26657b144e86df1364df565826e6de3b5367
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b1eec95ed52f5aaaf9f6f2a4f18a1ff3bbacaf7069676acc111a9ce36e646c
+size 147
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture10.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture10.png
new file mode 100644
index 0000000000000000000000000000000000000000..c44a46125871181a3ed252d7f3c8ce96787c7527
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65aaf67a95b262fb0d4915f72d51dc5bc3c9909522f1bc0e5cb896c21691da5
+size 6343
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture2.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e36f4bfafc90cb32e29f0298ab5111ac6f35a5a
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f17bb6892877d9b8c569735cb84a5046911f4e4ef1bc3acc78919e302f15525d
+size 9812
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture3.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture3.png
new file mode 100644
index 0000000000000000000000000000000000000000..0613456c08464ab45d0e45cd3f41a1ba46b1578e
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaaef78b4b46340242fb90a2ab47bc8fec1bd828cb620b41caa1b6dd06378517
+size 357
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture4.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture4.png
new file mode 100644
index 0000000000000000000000000000000000000000..48fd7cac7676cf3f13c7260249a8e070da6075d3
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ec518cc7cb1dffee2d7bf384d37b596e2918d339eb95ac4faea758d08a6675c
+size 147
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture5.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture5.png
new file mode 100644
index 0000000000000000000000000000000000000000..e91e26657b144e86df1364df565826e6de3b5367
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b1eec95ed52f5aaaf9f6f2a4f18a1ff3bbacaf7069676acc111a9ce36e646c
+size 147
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture6.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture6.png
new file mode 100644
index 0000000000000000000000000000000000000000..397497ef6bc403e5d508962da9c7570c07d71744
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5527a4f3ff5c476832f286a0e581bb6ec561dbc949cba077735f62edc55ca6
+size 40738
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture7.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture7.png
new file mode 100644
index 0000000000000000000000000000000000000000..341ab93997220a51fd215bb577eeec1dbc296cfd
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:466d798ece6fab0017f3cc2a082d9eab028c48f90d6504f5f99a0f1cca2d77fa
+size 7920
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture8.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture8.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd8306ecb7788a4d5484afeecbec7215a44684c1
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0905bf5feb988e7745f648add6655aab76c6a465789938a3d00cecd2c8356a4e
+size 10712
diff --git a/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture9.png b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture9.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aabe20e63d70188c747c8b8b416ec21c640c530
--- /dev/null
+++ b/assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/geometry/textures/render_png_texture9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26b16dba054f58fc666dd3417234bfcadb36f9ade560aee4da930485ed15fba
+size 9319
diff --git a/assets/scene_augmentation/hssd_kitchen_storage_03758534dd2a3a8303e742cf4fc10fedd4c48843_fbe3cdd722b0/geometry/imported_geometry.usd b/assets/scene_augmentation/hssd_kitchen_storage_03758534dd2a3a8303e742cf4fc10fedd4c48843_fbe3cdd722b0/geometry/imported_geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..656b74adc462630f7f3bc82e99dcd0c36907ca31
--- /dev/null
+++ b/assets/scene_augmentation/hssd_kitchen_storage_03758534dd2a3a8303e742cf4fc10fedd4c48843_fbe3cdd722b0/geometry/imported_geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca42323a91cd2ffab2dd926fbf4e593505c31d18600359e863e765c81119106
+size 267694
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/geometry/geometry.usd b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8d5e2237a7b876be67d4905ad20d643eaac8331f
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04c6fc9f40e0bd7cb6a6a6986bbd6675935bb2d7f4c7ba5b82e503483e08e1f7
+size 6267377
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..294a431d4f17a5076c9e95600269cc3db6853844
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884941fde75f14cec73753f6e902bac2a8e5f2e41b1079e3d948455f509e2120
+size 2187024
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ceabc6b14486f09f73ff820ab3695939ebeafc2
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3036f7a5847edc9006b43089186d4f9451de3ceb0b12f8ff8e71beb006d5498c
+size 2177608
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9acddfa5a4c4b31435bc32c2d9b827cb9b695f4
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000001_obj_001_gray_lidded_kitchen_canister_6c681f80/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da61bb967882c93581c1501ff46dc0aea294649478fa9e4ec625875829bb25a8
+size 1811240
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/geometry/geometry.usd b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a2362aa0d452c6d300bb06a3e09878fd858b9e16
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f766373d5054c96937e0a4b428580fe2ab485c00ac8ec9635387b72d031cd07
+size 5860722
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..269dae7d5f8a47003f6b532f4cb62335d48615c1
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a67c4c772cda75d5ac1b5b67853996fae8d571cb74550b0f81e1faa8167b82
+size 2912976
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1661709ae169c8701efddb28f2915c4e685d578
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b89e8dc0441c86596d0d886faef196aa570837d8c6a3b25f531290efc03d2f66
+size 3687892
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..006183d5417b315d3f22fa30f220256829152d96
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000002_obj_003_white_plate_blue_rim_dfe60565/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7c01842143382e1805b8018165480beeab3faf640e89e436a04ff475b05c3f
+size 1588292
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/geometry/geometry.usd b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..97ad6b7bf4ec988e0248188819054ba606d66b12
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8df066914004c9db116db984e2bd1d0916be760806385b60ce45aba79e655c
+size 6123704
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e78b73c4f055ff20dd24fa2c3981d451fa508254
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd79613c7abe7996b152a9853ea9fac8ea2e221a0ba07afe62ca51dfcb3cc4e
+size 1905172
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0439d8f2956b4722f55ea9e3150b12e920590f7
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:804c4a61f04488d8459609351da08673aa3bdea54db92e3e8bcc3761ab1e3083
+size 2439076
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fd6a3afb22d7c5e062a744145cdbce24451567b
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b422bdc38a8cd6ec97490d719df2acd848ebf76f7c9d9463aab175ae9753f3d9
+size 1965452
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/geometry/geometry.usd b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b024d6536a451cbc8b4596cd15e9f168b04a17f9
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147bff163a4125721dcb6a9c24ca25cb95ac3204e81baf00a15532df36bec0b6
+size 5698398
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85beb41e0a4fbe7f344ae4fea14e0d59a9d584f1
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54802914584e2f8b409ed74e6607ea9bf331c4b4b6e4b719d54d7416aded7123
+size 2100892
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d79eda26606c2119a733468fa4a09fea16b5c2c
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a92bae883dbdaae7c88b3b85f00bc19dc98fb4b6b396ce809120cde2a70a96e
+size 3289380
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..54c3806d65a72ccf959d9c9e0efb373a55ae675f
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_clear_measuring_cup_001_clear_measuring_cup_2f82ab9c/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20a6e15844cdfa0af7f05b50cf0568641632f08bf287e62c257da62cf417bb7e
+size 1010188
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/geometry/geometry.usd b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..579a8be6bf3ad52c578f4f516243c753c71c0a0a
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62ecea92e07e66a565f425bcbda514c10869b8b9819ddcfdcbbe0fba455ca07
+size 5985091
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dda93906cbe7d41164ddc08c878ef4b62938272b
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ace37c645f95a7867b98ba6aab17d799c09d5e05f2e140546450ddcb4a6f70
+size 2142748
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fd845d5d2561491a3c8537b7c139af0372fa584
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e24d362305367246160c793019872c77e2f3c99a9f906ecd7e5a367656d2c609
+size 3093516
diff --git a/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..731120bdeeac1db33856a4ea1205acff73d83a85
--- /dev/null
+++ b/assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49badc5e17590a128ce51a313c41ddaf2c3e65abc87eb2c6fbd430f7c258e14
+size 1921724
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fb250224d33439ff7b89eae2fb30d23188cd70f0
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a40d7bd5d3630be3fc2ed9faf8b8b94ed6079c67df0907520e0ccb41b5fd7b5
+size 6040754
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac74b17574bd9465339cee580428de25f87aff9d
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0588385514070bacaea8241e474ecf392b0d6263e4a796e4e4aa8f88237b522e
+size 4552716
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..18ae737849f6bbd26067f99dd66df2e7c897f249
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44657868e73fa2ca1c4e57b29830fa711da7a7d7f3697539f5f484b39e06171b
+size 5425768
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..50db739b6470a52ff9edf35574227b87a5e65a3c
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_lidded_round_container_001_lidded_round_container_0da7935e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b8c81e56ea841871027a2d48ae343fd0fe2e08a0493414af15b751988b8fd69
+size 1617660
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f26b0c5d13ce98c965cf036715de37c6fbb5d476
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d882561a302a98c657fbd428149c59d36fc57c31284a64a029233a0fb151cfa
+size 6901945
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f7051c7f6d9ddba46922e829a1b77aec2b489fe
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c15cd0bfede417b39bc1404a99984771d8aeb93e6ad56fd091580fe2c7471c
+size 1869112
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc52e943190341587dad21248b1e71cd3f6c7f08
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b173d0ea3ae264c99b17a36ae80b671a79438a16a9361e76e802338cc6adb9
+size 501112
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1db0c39c2143bf891bd2cb1ebb04c956fd5014bf
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789869faf141b8628e5f6876acec3c080aee19690eef83ca0ac7558d1cd3a9a5
+size 2774520
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f2c0a716d461d3fa046a31f1b484bf62c071c419
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f495b47ddf440117154d2cac228b0fc0e84822b7eed1cecf7c7519322c6ae0
+size 6629163
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01a9c7cba06579ab765de332826ec4b91c29f9d3
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa3215a22eb106e452481b7c49f9eb78ab5596977a33bcf109c569f2cb0eccd
+size 1583388
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..36c26a401e2e96dcb54ed0a34aaf0f79e3e0c879
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bdca8cf992e4dfca8c2b97b088ec0fa1d2fe382a8c0821bd9caf9754090b062
+size 300980
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..8985c1ca2c627b82d01853530d4e799c27e903b8
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_7668b4d4/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9efa5003d9a44d4f1983bc7c6506f6f6b7c9939f278004c04deb8dd2f5352a6
+size 1059716
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4d869202f485c0eee7bf41fa400ff5cf499f0f0e
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9594820fa88644c4c9c26c88c0598d44422422992f66b95da648a638c559e4
+size 6989990
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83a861a8e22d3a605ae968bc5115da60a1c00b00
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a8eef506b54521b430d8ea473ace02fc026d3bf1f28c3b79463fd5062b63558
+size 1529880
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..92eaa403eddd772266056b7a608d34a670c699b6
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f549c517de3b71cdb5577e687f4ce3060b2e25fe120aa8289bd63b6b9224be84
+size 291068
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..82eb76fff793ede47c4dbf53df18605863615117
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_remote_control_001_remote_control_f6e0ed4d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:676f9689f01933fc458349b91b26eb919b5f9ea57b1c1574a4c785ac3fc2dec6
+size 1034720
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bf89784079fcc91b16c5e31b488fb63ef33e1795
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5041ca14c92467adc62752237c2ac28c2dff287d7f40539a74e0ad66970458c4
+size 6935462
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f610662183d1abdb16eae46bb21114e1039f1646
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6b676bb92ebea8637cf80fca89c6c76b974deb95efb519aff2462d931456b8
+size 1288504
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c018a0158979ecfa982f88351b977601a2ed7760
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8107fa6845510fa58c4971959da7474435c31874e18fa2f0fe79a3e7184fb93
+size 113944
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d19269ec5fa5c5ac29d5596d82b3093e6f66a9f
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_13b9b179/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983bdb2cab24cfebe25d859f3e22fb1ad5d092a30bebc274c104429a10c28734
+size 1412204
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9211c784de4e9035af0a8d95cd6cb5081e6aec2f
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a96adc4a09127681be1ad8d29d5e30e101f0f81cc647c68f9de2d39a0b7e964
+size 6743810
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b555880b1fa4a2ad4ff80b2afe0212169334c7
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6cb7eb1f92096b06ac551e5d86c398e000c8bc6d11999b10cbe802461916423
+size 1377084
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a296cc54f40fb5fdc73c071244d9986aca42b775
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cf4a2d80fd9bc5c3138e5e4156024ccfe7a233201b210ee8a66497adf728d6
+size 92976
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..06d22d14fe6e79f6ca1f1ab57f36d30d6ea8d623
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000006_smartphone_001_smartphone_7b601446/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06a79b4d9f9015de96b6ad44490070ed89d28df24d0b381639e3eaf107588ca1
+size 1150648
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5f0a148d344f15b67bd7cc97092eac993b674205
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5eaa38f211c0ebd26d8bdfca93d866becdec01e43c3665ed2caa57e0c0b406
+size 6302435
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b514fc68b0b274bdd1da496093b9ba4589a9186b
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e0d9b0680d6af650d8d826a154aab1fd804621cd2ef4c8a108b0282b7cafb9
+size 2474788
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f5b5b28e75e9f3d855d66c1b30c75987df8bbcc
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a8c088035a584c0f92f926eafa5706bed26268c02b365954681a5aa0305310
+size 2976680
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fae79ec9a78c49ba91a192a3a2d656df196f687
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000007_obj_002_black_eyeglasses_2402b8b5/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8f3cb8d94d4aadfce4c567e9c2bb29aeba40f5a3cbb922caceb60ba21dcea2
+size 1332040
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a0735a86632d596bdbc91b3b82472ab64409c0d4
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f87d2257cf714a3862c195e92f92fb2ebfb4d6c47f0950840659b4b21d9c968
+size 6419609
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab029eaa60a0e9329a7b5892a7abfc5fc6631162
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eeb3262ed614af6833fdcae31d33154dcc1166f519eff060d3aa57c7755c96e
+size 4259732
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..7edf96db70d89bb0584bee4b627f5474a8e04949
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6225a3ebe525d1502e3459cf4fe8274678914f2f54034b0c20378a289e4bcb
+size 5217776
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1972ee5a785cbbc3f484ff7345a26f723beedb7
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf03f512080fc387c893e21fdebba097733a02bfd8216f72f35fde92280dfbd
+size 2127100
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8cfe613a0de56fb51e0f07a45d87671fa7cea546
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8617f3c9e8dc7c6820106becdbf7919c4f2265017d76d2dc2e33d35bab2484b6
+size 6910470
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..17e6fb0c03b8f628695d8db8ecfbbc3d57f19c30
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76e2aadf22993dd98da277e66feed4283a58090492fb556793b1c95d90b10b7
+size 4063772
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c2b0a640b297271572449874f4eb119ca8193fb
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ed062a0a39c84f782b35f4af6fa7fe6f462603ac4d3e037252641e33aa0cfc
+size 2915104
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..39453b6206fe53b2c6361c9b6619ed6bb2cce645
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffad14c3bc6c74abe0ede68378b4ced5c19b2f7119742b57501f69b74f6f4fd
+size 1086336
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ab87b48145ff9388edd59bdddaf4b09bde1bfcbb
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f983b0de64b3ac64a21d173fd3370e4d57331ae9a5b50bee96e18ce9254eb93
+size 6740673
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..781beb3f74cc0f1a33764f1e62d04cb2a1cc7d89
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e028374c24cb9376d8f77312a6db6fb36fdcd15e8907e5f96e13efa84ae69a
+size 1759524
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b834bb4580a343d873bece9fefc730f45d84353
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72803265114d0c41fbd1ddd70f36995e05ebcd375a9929a95b65e3deb9c67975
+size 1271184
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..508478566b2740de913e8a55432d5804f1545ae7
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_eyeglasses_001_eyeglasses_ec9682d7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:429f3d38add7ebd7f7953c54e7ec93576ab48d22227697fac859d38babece378
+size 1256312
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..119777dfd0642bd2e4dbfcdd1704aa2350e021da
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67cbb562564059b9193929b1d0eb2fb26b322fc7b059fa4e4eac9501548470fc
+size 6914337
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc6ac3647e40ed9c4f2ff52fbd13559bc6214dfa
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e4fd6deadc820aa214236235d3215835faeabd5d266533003bfe5457241ae3
+size 3791288
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3439ddf8982b420fa9e69d4316c4c161fd0028ca
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a51a24d074d9150e3adc9bb1daefb42b2b7806e915d48123d56ba358aa5354
+size 1933384
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cae2f38fb2d42cf2120fdf152f03ec7c90bd15f
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_small_decorative_box_001_small_decorative_box_7e0c1468/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6c3462c3753f0b8f6513a74ddb46251e267a24a938d988610d1984cbf6da3a
+size 1781020
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e52c479958c5cfe65e3e0d2a746cbabe2f37bbe8
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1109cc3e0a2284c70af312586a1fee39a0778498e14f8f3328af6a4be19093
+size 6874169
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3115737622fb0eb2d414ad97b8251812a1fb2a40
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c5101ff6c2448bc83dd886ba85ac6c6e626c964da8ba08c9d39affcdf0feac
+size 1202564
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e9db37a2277ee07d5be48d6d00fdec3bed72c4a
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d4558ec2f67d02d82ca2cc5a4d7cd8989bdfbf1e088b2504657cfcacdd44d7
+size 46384
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..586fce21f2e0dfe04a02ea096b6473fc4b53a8e3
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000008_smartphone_001_smartphone_4e20ab8e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca0d5bd6915acba50eaae91aa0636dae940700ab0651316830460fb0b440136
+size 1887652
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/geometry/geometry.usd b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..babb9421d16a0cf72e9b008c6e4ee1e31c2d229a
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15bbcc16bdc0945f2ccae2d0118ae7690f2b759e4a5a95909457a0ed14af015
+size 6252830
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d9105d4e6e6610b81c0f689b56945be6770889f
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775e141529b091026a9eee2bdc171a5e7baaf6a607b400e43385985d15d6d866
+size 2472828
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff6640dcee54167c8f69b6c505488944747d7013
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7ca79d6f68542954d747be6b82a184e4d6bb92a2a96eb8ac7a9c124186eaba
+size 3740740
diff --git a/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..76676f04628bc025d78bd49125cc5cbf968c216f
--- /dev/null
+++ b/assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eec59e710bf4c54962abf6a3dbb76f787fe85a3bab2bfb397850a71c2e38943
+size 1913092
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/geometry/geometry.usd b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2545f0b167fe2f4071e99ef9593fb6c8071d467f
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f86eb2d999a3f701f2434e77821d0e4e4ada554b3ad96854090d792a3b3b3f
+size 6884683
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..def554016a49bd0fceb27f1c438becb5ffb6ce11
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c0cec0821e3349cf321b1ab10b7bda067f5bddefbc28d42a72e84334f82d73
+size 1785568
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea49ed1c95472e6a313491408b581e4867430a08
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561c7ff84ee753ca166537bd1c9ae85014777e67d091ca03a1ec021c3b5429d1
+size 116500
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..97e042b9f9fe9dc6f93d621b29cf44a54420aeae
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_game_controller_001_black_game_controller_950cc6ba/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27fd3526660b37d71e7993f533f2a554fbc79b31f65cb58ccac6775675e23e13
+size 1506484
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/geometry/geometry.usd b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..003b0123767d44b83cd3cde63d51f690f2fb13ed
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b49e0e25457d6e329d4ccf52e85719669584a4b4fb70c24fb09af90df9b79b
+size 6713298
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e4d3d2f28c092855c8c6958bf0e9cf85c5c64a8
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af0f237e778d05296537fe94ef01d5e86a291743c588b7dadff788df0084234
+size 898628
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..795b26a288a850ff58b581eab924df14307428ab
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00cb6979850d8e4a5fd68c903bf993a054d07b3720b4b83adc3c3032cc9ed4ce
+size 113600
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..baf941ee2d689d9719d0536f6aa91136c4b83402
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_black_remote_control_001_black_remote_control_6fb5f6a0/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226fdd538d696ca6e0aebfd33607b883d7bb0284e77c8a6c07b4231769f4488e
+size 1133372
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/geometry/geometry.usd b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9dfa5a8d541c4fdd327466b8c2b57c02ac3b45f1
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33dbc9b06b8a4545fda36f11f52bd3557e3283ba14a12b01bffacf056a5d3783
+size 5332618
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a5be697e99c45d8345eff6746bae1f71f14f6fc
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e6668347466b8205c4a4faebd3d7fa8301b2f7fd673839422e710a869cca73
+size 1909392
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d71d87e84ca5f1063ae91e2b7f84f4393daf3ef2
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ae1bfedfe8f882d1d8e792254bdbab48d9ce390a8c7ccbc01fc10ebbb3be1e
+size 3078660
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb5422e5c7f131c77ad1c2721e108217506f5707
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_glass_jar_candle_001_glass_jar_candle_ed8358a1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9407867670be248ad1df806d18f8b5078ca04996375665cdb3b6505ee1bbf6
+size 872364
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/geometry/geometry.usd b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0f50b82df49bb57761fd8e433b590472dfe2cec1
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7345a8668ef2b31cabdedddaab414a708c6e3d7a4fdcfb45a90209495abf989
+size 6684280
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a611fc126cfe841d6912aaf51fd0d23bd81b128
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9eae9640c335f7b83eada1f35d39a83955e1817fbbd6a21bd7d90b7710cf24
+size 1048464
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..34c70c6dd25b2f68655b9d436da6fb51313a87d5
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a417c7b6b18ab215e38f76fa7ef2fdab5c2f39d3ca73b948902c53caff162c
+size 84812
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e6ded79b76a08851f83b35183ae513f75db922f
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148a2c40c783791aabec7bf1e8b78c43bbd193b0a6291b5327a2a4897d7dec8f
+size 903016
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/geometry/geometry.usd b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a61c976423ff074706a61944859e15f00b0767fe
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7703803ba7527fd8c023e3d06f4a8d300b750e590b2c74a08279a7599b46ab7b
+size 5858103
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..76fcd533a3ad346082a9ee67559519c11092b633
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a3ed146fb6a24e12481a7518cebfc4de7100979a80cd2859eff13cca2a8118
+size 2266312
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f98f0fbc623809f6f3cd93e8169e73d3a4317efe
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ca000b702c5d92ecb5064e58b460867273ccc3da1b90bfa309df487402b467
+size 3297452
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d854b16bcb3bbf19cda1ce56a9b48d67befca69d
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_obj_003_small_clear_glass_candle_holder_01_8e9b6d48/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e147c56045b89c9b377bad6b69baaffb2be748f67e81bd42142fbcf5944b47a3
+size 1259376
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/geometry/geometry.usd b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cb45aa6688d958a58a780d29d29a164ede9a7479
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec75e0a4811eb9825093843a0d0326051fa54d9a3c23f2f5c51d07e29c321223
+size 6576130
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdd299935e0114b89e5b95eb9f9c3a5e43830a08
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59787483d094398658f36c88a02a1f024f8db7b48bbd927162932f3ac17c41f8
+size 4196540
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0f277e59837eea609fcfa3d4785279aa500dc55
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7686e801a2ac928731394b29c257456e4ee6e7ac9891a9381d475f279e851c
+size 2836732
diff --git a/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..030c80ac221234c6df0ecdc8fbe43331023510c5
--- /dev/null
+++ b/assets/scene_augmentation/small_003_living_room_asset_000045_woven_storage_box_001_woven_storage_box_749f5342/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20f6ed703238785c3b7869ad3444bd7c3e8219d2c6fbf5fc27be2b7ea2a9a19d
+size 1996228
diff --git a/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/geometry/geometry.usd b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dc49a973f94401eae4bd6494906b16cf9815f677
--- /dev/null
+++ b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0af20213168bd0f5a5d4a884e867d0172db92b663fab36a55bfae64da07a0f45
+size 6903938
diff --git a/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9946e630494c872e795be77ae640a05c2d1c879c
--- /dev/null
+++ b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b9909964b60665c1434fe6fa1fa1c9a22922e9faf12db1428f222c001cd561
+size 2587168
diff --git a/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a07499d72eef609e720a0ac775c912ea27471fd
--- /dev/null
+++ b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f49cd19560a47d57f964420e9372aa7052ec2e081a46bebf855a0b9322fd7c6
+size 650624
diff --git a/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..576bbd561f4458f7d0143c06dc639b7986675a2b
--- /dev/null
+++ b/assets/scene_augmentation/small_004_hallway_asset_000050_obj_002_brown_bifold_wallet_1b0a258a/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a68355166df2ca49641c99b72b177c969ab5cec351297ea32eccac29847033
+size 1246352
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ac054c6960fdaf7c08d61ab7fabbc68c92ae68fb
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc23b224b9d46e0653454ddf9f62cd6bec731cc4f4e017995cf3d5086a28f27
+size 5266118
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..92f75cd607ead541f965553a62c4e3c012def424
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c599d650a4408c0ca9907c5fa3cbf2510937dc7a4fd0f672b448ed323feedda8
+size 1800240
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c160e8d66cd13252a29a641d968563d99a41505f
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c71d63ef4bf283a133030264ea874461d6adf503bbd98f52d77ab2d756ce4dbd
+size 2914240
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d90e2fc4f15464b679a2df7ef46bcfe3dfd21405
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000010_obj_002_small_white_saucer_plate_fcec6801/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d352a2ceb7de091931cdf61e64c82802673688be03499f899a11413d6370cd
+size 1341628
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9e3e8f8398831e6cb32774307ebdff1a875a8880
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba87ca9a7bcdf128ab270a401ef0525188a5a01f6aa0be9438b78a3309d4ad52
+size 6214933
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3cac20ca7814f28b40fd1b2dc047633c5b286aa
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2b0c313389dcb63135a53be1cb5180519064a7730efc4b27dc23945569f048
+size 2004940
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..19dbae1585e90d0baa1578cb98a8048bc71e4bb8
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:167ee958eca74fbe6811cc7f8df53804726e5ca61659cd89b1b230b7f8379bbb
+size 3139312
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c23f60c4bbcd14b253ea06a18bdecaf92535d7fe
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_001_white_ceramic_mug_861ace3e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd99fa0cc106ace90d738b3440d0ec5b0ce163f0d1386f56d171432127d73be
+size 1251944
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..602ae8ed362d08278a4f1d8eb0cdd7ca46db8d9f
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d630620d56b365e27636b9b6e12a5431ba5375ac402f5b8a614180c756d530d4
+size 6840112
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3197cab53be13463c96e35a569dfde330f6e4538
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377e9c05193d7c3326d6191bcdb04476f55fba24c7364466b08c01183653724e
+size 2738012
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b59eb8e3d902eb405d4323c27f3d7ac23583bd2
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f3b9edbfb35f786df50042423c4ec42510afe57e2a6a395a16e64c14860c27f
+size 3851872
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c487e08abb4f20ac548c62ba6b4585484dcb9d94
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb181139ed0b5231229fc22fe138d60f07f80dd43f7f055dbd14931f4fa9b43f
+size 1426072
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..21301a9e92d493197d6b4950f3ec81628743456e
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60a8a6023afee360d0e81b173be92cc4f9b91e1f706ce8d27b305b8d18933469
+size 7039631
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..00378070377e61c6b75705a82053eb0d738b0ea8
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4bcebdd015ecd175bb9e6261b0ade950bb77ebc2f66fe0ccf27209d9d9f3721
+size 2760088
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d584e5fd2edd165e1ebce7115fa0059153f99c63
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c412aaf1d25ea41faedaf723388836ca5c5cd144742e5301ccf044baf62947f
+size 1693916
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9cd7ab7df3e162f475e8b7dc2f57dd0d760c730
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d345066d5feeca158b8d0c5ab4e0cbc9b7b9899cd57951d1ca439d67b387e6f2
+size 2021252
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4b22c9a9da51e6a927108454c7379e463635506d
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a382390665c4fa188ae46e07b9c8bae68adb9342f79c4d1dee126bb7991c7b
+size 5097217
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d45f1df266198db310b39eda5025728b201f7bc
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a99444346808ba07887811052fde99fe971a0f68e56f89be158fd235f86b95a
+size 3477848
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c947c9864e4593f6eada11a21925861a1ef40a2
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56524b37a1f53d98defa0dbc2d15fb66a9e8ba96c1a9d51d190e468ae457bed
+size 4132528
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb1a21b864f8133add33f19b178553cbf41ff906
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000015_obj_002_white_ceramic_lidded_jar_01_fb5a1e6d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c663e1e4253e08b6be572a35a57bf62acc3acccdde16495e4b1bd661c039b95
+size 2151772
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a15798683fd2a8ad5ebaeba1f8842b2388ebe41c
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa240b6e8c43a270b9f61588cc76845577937cb4d33c82e34afbea35cb4c051d
+size 6120817
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b46607e96d56b83583c17cb02965e2c89b93e30
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d556afa11e68a24a8424b617bfaee954dac5010d737c0546a841c1f412659f1
+size 2006328
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c22ebabf96720176544f36e03ce8dab54da5c15d
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b0ca6c2db20085d1466b8c431b34d4cf3cc044db93761899b4c1d6ae5c9648
+size 2675300
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f673cb5368444d3652dddf5a4381e4caf8148a9
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_001_white_ceramic_mug_01_9aa294a3/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddcd6054975c04109fe68462aa6d89a6bcb123dade8964b56e5dde87ac0a706f
+size 1108780
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..caa2912064b9cfb367e40d0cee72aaaad0512890
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ac0e83f59403ddf3edaa7a7b99bad1132338ffa2a55cf0dbc9985593a27775
+size 5446346
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9419617ef749854e7a634d068d5b993cad80d727
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d96d352f3f1e366064fde59fe926812326aebf471502fc211da748d1c0a6035
+size 1833644
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..38faad6638008f6afadcafbd25ced8774f6d9265
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2fb29eeb98a1ce5483fd7ab77433c72bd118bce210df54c782645e263d38c4
+size 2712696
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a0a0b218f598c0b7662424942ef3e7ac9b63ff6
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000016_obj_002_white_ceramic_plate_01_0ac77161/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda07634a9aca4e083025e20cfa6022a20d3b22736f04a2cc660122446b46db6
+size 1976520
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/geometry/geometry.usd b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a31dc1942401e0cb666f76b3e12921ecfec1b530
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401611334d188f4bd6905dc8ac55dab9bf491b71a4fdae50fdba4f061ffbd6ad
+size 6478974
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a400e391ad18f2747ecd91b075dad0b598e359c
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daff97d1c8024faa3be610afe091b8b3e782782f4a1982aea5c616c261bc6612
+size 1950152
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..37ef9f1ddba9195342f70fb08e5dbbc490a24df3
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eefb8d242461e2f0478854b3ee8b7da05648e7937e99134482f7e15a15d7be0
+size 2926688
diff --git a/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdd0aa18938502acbb156a05fd39d8ad9b933ffe
--- /dev/null
+++ b/assets/scene_augmentation/small_006_cafe_asset_000019_obj_002_glass_sugar_dispenser_metal_lid_84e2a5e5/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de33a453a6ea0501cc2a0e9c82f72c1459ac606f6055c97dd88309751af36405
+size 1741656
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3aadeaf451220eecba6a44a37cce51ae73c022fe
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dedbba2fdaf2b3d340cb8b28a34fb0838edb920ddb6725e60130f7123bc8119a
+size 6782306
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a41dca3f8e8ac95314ea3e18c4b29289d7522f5a
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4964beb6d7df3c42c4a373bd1fbd7b1a85564ae427157468f048394aaf7eb8
+size 2237668
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..7022d416244c35bedd9d71f62c827b80f69b71c0
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24efb7d6ebb69c5e13d7c51de870205db837a72e58635d6e1d6d794f6f7f459f
+size 3485492
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..23bfb5cc642b787f48b93452525406708a511a44
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc91a7885e196e141fd763164b28ee1671548b1000adbdea80b44731d4a8b9d
+size 1285512
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ab704c906f708ed1958e667b2e18a48b7600ce0f
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02804381d709014ba955af33700b603ec303a6310170c184a7abaf5bc9e78464
+size 6890429
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43b16a75bac013100017db0bc1a8fa0fca4adb21
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfae4c6dc776863d0150a1a775a9f49192a12d116c53a3ef28980deee5aef363
+size 47328
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bc2f3a6d4effb4e4125b52a7569dc7a41e30dd6
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd222fce3db08d20bcf3f592601fcebd3d186ecdf01bd96fcb9a99ae8839007
+size 16912
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfacc57f0816f391c30f47b946825f11dd433856
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5a7ac0cb7125e46cee112356602dca2acd51c46263e0936d089246d5392100
+size 1427400
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..83621d57bc4dde8f9ab7e7b6f2f93c23c84747ab
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e45d256b0b9131261bd3fc6a53478af0db02a233ac85822dc36f4987c0509870
+size 6823075
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4bd751290e20cff09752a38a06726b671172cfc
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54d5da5205107c82d1ba2d8e3ed5eb4b329c4cbee133c238691ddd7fae86b7f
+size 1390120
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6223f80a27099b7be49a38e4de723c39a722645
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a651d63f8bce97fd4ad5f3fc47bf1d0f0591ddd00cfef4a7518f1767eeba1c32
+size 24108
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88a5bee1ebe0e1605a00b0d8c0f5df3cbdb0d84
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e37335b05b126ca11368065897d1e286e114511a80037cb5e7318d35fb6dab
+size 1309156
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c0e356e6ff4c868453231688b4f601d7beb94db9
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57bf607a8de0365140d18eb27e8fd3041674a993098397a938e40575fcfa496d
+size 6154610
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..be7c79beb9ff0d19455058a8b8c96663b46e5fce
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e419d08944b28c7a4741557f8c16e39bb90f2871b5c9cd6922c68914ef497e1
+size 1663324
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..51fe2f3d64d870fccee698560855dcc9c5c044e9
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1afdec9c180dffb290387ad2981f54453bbde072548ddb68bfa6fbbba2399310
+size 3015076
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b5dbdfc8c3bc094fc66eb8630ab441757ac30f7
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e581cc1e1d9312a490d33fa0dc9a68787d45a12d575ccf813c376c64106c2661
+size 960628
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..01c91a207b0ed7dc5e3608d5f3bc3448de53fe3c
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58087df465624610560ac4244860e9af60b8cc1206667c5c6455a4921dc2e087
+size 7079732
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..63514f53c4b64d6b797982ae33270a58fc6d03a9
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f44fbee43a3af8bd995a8438891077b8b0fae117b7a69de06053f3d36ffa2a
+size 1981544
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0e5475349e05c42e28ae6fbbc9e3ceed1d3c4e7
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:418a7e370feefe0936b8bab5c658a4215b55608d4a2bf180cf45d6f52adfaddf
+size 1244216
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..914dc8eb29689155d2e79f79944a7f16f06a29a5
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701149026bfd9a483703a5f73da4ef4e52398b22e7792a9ce54c1084c5aa9cce
+size 1544780
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..961414d147a00afd5690f531b00ed71981c6a175
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c58580cffc3a50c17935de49c3d7a1887a4a714052bc4cba2b69b748fcef3b1
+size 6315599
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..83bbfdab55b0ad87d59e436b873cf619bdcf3be5
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0430b3a89ccd9c24357ee08b63746416ce58fa4b29c6e36ddc2909926bd7ff6d
+size 1382272
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..55f422a6a01846a5eaa260a20371440aeb8bb177
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87ae66f528576b952ba9f7ef3d906b188b6558bceae79c81bb73f83de198a70
+size 2029124
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fac7a0b2ecc2ff68030772aa4b5ffa4fa335649a
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7bd71af474b1e2ccc315c02fa5b494a0f5c77496a0c8eb80afddad11cc06126
+size 842108
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3e36f0097004b98ba59934a03b86757e5ff05017
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0b7b0e81a6ec1ba928a5378404dddf7de019d454125d723498393c97d605d6
+size 6840440
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2216a103e45793e011d607ae789521785a3cc034
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e89a714d635eea0d6ecd10541664ed225406dd7798e93764d23decc54426df85
+size 1301152
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a20304001f8019419a0dd8965861ee3bd797713
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1724c2ef49eef54f3508348182bea9a2f2b00242159a466894759196643f30
+size 437604
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc86914f16d38d06801805c5eecb06030fadf23f
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d0a821d7b085ccf65cf001f01b21f9acd3cff86aff5d3b65c4d77e0f9f227e
+size 1409016
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/geometry/geometry.usd b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c9a42b0874b5b1b50c31ff2a4b4436bbe0390581
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4373e36a24f500ed66a0223e6325a81173e19bd264a063d4ec73f7358f3bb164
+size 6894032
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a10ed28a15670e2ae92a1150b5fb26e6e723ad3
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6717473bd3176a00f92eefda70f8b77cfde493b7a5e80625a61124753da31a6d
+size 1458832
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..54b64402df9e6c8f6d6b36390d0870e9fc6b073c
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34e252c659291c6c29fc2074a021d55a9cd1de6b763cea053b73d678a9c5396
+size 516992
diff --git a/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..190d953265d32681ca0e7571093722ad1157c98c
--- /dev/null
+++ b/assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54525460ae98ac5dc29ab195e3e5984255fc294f38c5d0e1a25341fffd7fae78
+size 1126296
diff --git a/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/geometry/geometry.usd b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a124106d493cb3b9bc08ed9145275f8b1998465d
--- /dev/null
+++ b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afe8054e4d5a639c409f549e808d48f37227d36e821c287bb7433d841f400f1
+size 6481113
diff --git a/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aa758b7aa3853e3ac2fe431288122ff2142d533
--- /dev/null
+++ b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb268d2c44ebf2174c7a743099fc982a18b63f31163b81ca14ee91c0732f58e
+size 2421496
diff --git a/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..03bdf38572dbabf53751316b83302f53c22636b6
--- /dev/null
+++ b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e80e00ebbe2a6b979523c20f878158a34ffbfca42005e13ef6ae92189c2ff9
+size 2947712
diff --git a/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f5c4dd7d2f10a4fafb234798925cface4ff325a
--- /dev/null
+++ b/assets/scene_augmentation/small_010_retail_store_asset_000056_obj_003_silver_geometric_desk_organizer_b611cb36/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b446d257be0cecc58e71c00c70e6931cb8abd08e54d1de2656a8f861a5e6b2
+size 2656476
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/geometry/geometry.usd b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6daab3f6c772092337a46ba68bd5b81f0a2c34ef
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9da2029740d44b762a9cc4e176e25b4c617473296b6b7ca4cf187e757b63c356
+size 5917510
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de921b7e138cba2ee500e46a05274f363b9ea3b
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba23f25f34c8884dc2fbdeffc454cf89411f28b1d7571bc709bb8533f7f6479
+size 2220300
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7888428381f1d055fbcb84c8a72be37c6c1f3ca
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef8ad112b1e1e8c61f4df1639a100b38949d8ce3360748e1195162f25f13f59
+size 2748656
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..41ce2e5bead88d937ba4daa48f3bac8ac09f40d6
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_001_white_blue_striped_mug_252d7847/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28658fbc6d2f7a849cc74cedfc9a98bb90908b984ab53415e7ebc049e5ab3e04
+size 1295916
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/geometry/geometry.usd b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0aa5bb8881b85be66a325311453815fa65fb1bf0
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21adbbc0485354c9b0dd1b168b128aa376408c6b860cf2f288d90517095f7de9
+size 6007160
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..92c367822a77dc9677166335c7495fed2bec1af8
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ac103ac3d14443d84912140f5dbe39d99abd4c6d738a28fabff5016e35118a
+size 3520916
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f8ae76ab0a3eae530d8890503229dd3e0732a93
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90994867a72a26a4d10c6906143bd24f5a9ffbaa545e1e9e60b2aed0bff52ac5
+size 4374776
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a3abdad5db400e22a67eecfa96d0c19a004e8f3
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000024_obj_002_clear_spice_jar_red_contents_5c4be88f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192747fe7c57a1a7087de59ec56c203e6d1444029f3974ea3a018d49ad9b80cd
+size 1284276
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/geometry/geometry.usd b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a8140a3ede7890b9a7ecd5cc072cb88d99806d4a
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cfc09a5f84c90fa3d2bd0bc5e2942b4bef188367c90245d38884e817b90c919
+size 6272096
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dbb66dd89a28cb6336cb290cdea3c33e2f062ce
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:032bca5ef1044b445618b6f65e05466969e92d48d587ee0329dcced16e3471f4
+size 2007984
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb759445336219b4c587853cfe654c9d953f20ab
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e2f18fdbf3d296bd67f91bb3a52ae1ea9e2fc3116b8298f7fc6259574545ab
+size 2843304
diff --git a/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..07c962070f1cdab49f3fd7d4d8442eb0b8d90afb
--- /dev/null
+++ b/assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f7df4d3c761aab8d04584cca0a94d138ef411d028e81cf3cf4b39d45dabe09
+size 1885612
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/geometry/geometry.usd b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..35964afe7493af8278bc57073ff788d021131ec3
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d890a1797f59175a8f959322d939059b02735ff32492a1fdca48ec29b65db0ee
+size 6797576
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6faa67ed59a20a6f9abfd0c798bd5185a47c23f9
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23d60c320f09237e6d6aa050b0da2914696d208e559b2614eb48c41c614bc36
+size 2087772
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dd60771d4aa1b3f4a808cee6c11d8aea3f2dec0
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ee99021e562ee0278daa10b8c298300c6c1af8862674383a057c362db66147
+size 2947936
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..e66a09e2dfce94dc40382f3a4fb87a6f19036d83
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000026_obj_004_white_glass_jar_candle_10a7c7ce/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9507c2924139d84c2eca1394b68fdd3a80c438c351b0c866ff24b0f79cc62b54
+size 1850360
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/geometry/geometry.usd b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..01c3eaedfcf4c653d203bd161a58ae5640d47331
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1b2be3f53210ca829feb2edfce7d2d61dd077fe01a29d813c4ec9acc9adf47
+size 6991282
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4506db3cabd5f7a3ffc00d43bb6168285d8f766b
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf499c2fdd19e81af9152c43640bb5c0c9ddd422364c740b311a7f0c4671f5b
+size 1788620
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a625d3ea91cfee19450031c78762447749fb459c
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c696eed6c65c816659ed6ec1ad5165541ad098980e6397b38da4a5925a10932
+size 2651764
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..74fe0e2c8041badfc78298e65c1cd2be3ede67b0
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe0d9e329f1b618b214397f9ad01cae1ff1d446c48c26eb1767d813794f2e35
+size 936748
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/geometry/geometry.usd b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d5cdc78b07117d2092f3c3cbf65ad7e47a0f8629
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8abc3dfafe26f2bc90777266596f20d196bd694baa78e87d72259654bf0b91
+size 6813943
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..01bc0b0c86074f3cb028cca6b34d9f250cf86b90
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4c4bb723a2e6261823a9a9dafa1bb954c2c88dff9f6f5e7b1abf6a572159df
+size 1579884
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..17cae7afa985634f1ec98990ac6e6f6b4e73e3a6
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:066464075ed4a0182615609bed025e07afe167f632ca88b3925f8a0ce8d339e5
+size 304676
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b9ae276f526ccd13c1decc6af258bbad2844cfd
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dc36736803c815b93f17ec636d8d88726ab43b1cc58d062ce41364094b5311d
+size 1328668
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/geometry/geometry.usd b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8e29f6178600122899efe20df5d96bd4beff43dc
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1eeedbca275cdd446a4cece3d2a780bfa1c9bff491018d8bb2ea2dbc8edd8b4
+size 6707447
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c9c70e7da1651351170d7b2321ba23a222fbd84
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003caafa5528a3db4469ba48ae93fe5ba9c75c41f692d018b8309e0e1ce8815e
+size 1836156
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..761d2fa50ae80dcb2dedf615abe80acf52bee16b
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd7d33bb7d243607ff4d62f55c9b9aad7ec83e06b324bf28ddfa417b31d94a1
+size 534204
diff --git a/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..a336bcb821dd2a3aa0ddc754e026faece5461847
--- /dev/null
+++ b/assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d4d2bed8cfb9df5ee5a533ee671deeaaae64945f19d1c805bfe50ab6770cd5
+size 1014364
diff --git a/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/geometry/geometry.usd b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d0df00d4828924565392e6609a3f040b1905dd63
--- /dev/null
+++ b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588d52b0819a15e583b04ade17b1570203262c1c853e31bb0940d6c365406293
+size 7108527
diff --git a/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..534d5cabbbe901d8451ac4ad54f77626b19f6297
--- /dev/null
+++ b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2845cfdebe8ed4fe26c5fc0c51d8de5d8ad7e353a894677886a3662caef58dbb
+size 2341028
diff --git a/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3bc0d245a2fe0023abf5b5cd1447a9ce9a5ced7
--- /dev/null
+++ b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15fce40bfebf0b091678216855fb7b06caa59b5e65515c3f5beefcdc0c0704f8
+size 826708
diff --git a/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..0507b263dc40cf02bf104e91193fddf78fb92a6f
--- /dev/null
+++ b/assets/scene_augmentation/small_014_hallway_asset_000042_obj_002_brown_leather_wallet_01_697ca807/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0759fa4b6a8822906799cd3a69f032c6c8758f7fbfcac45b2c72703f3539c1b3
+size 1585852
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/geometry/geometry.usd b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..014a401e3f469c4c917636487994413d725a5c75
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1ded7fa27c90f30066d0ca8fecfcc8a8b348ff55173c45c0235047a7db4cc5
+size 6179587
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0249548c44fbcfec3c6e48b451720d3eda0b0bfc
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0399043afa4d386240a5f6d99bc74f1cc6b0936fc609c8be7c952883f0f5340
+size 1857128
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d53869e766ae650545585ac3231a192bb4afa6c
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7bfd0f2ace7e00d5e577e6e041868600a1d484194d89ed223436d15571ee453
+size 611704
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2c2624f7ab97ddf2d68682810567e30f09a2309
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc31603d0d2552eb449572e664175892000ca347b4fac22c958feb0a614513e
+size 2140208
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/geometry/geometry.usd b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ae8fea24a46df7f3d196839c8c0400feab0f8ccb
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24cacf1dfcb71bb641318bcd2c22ac6af51aacb24dd01f62b9a22b2022c43b82
+size 6445608
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd6530836a780e27fc28336ed534ddb06ba8083b
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20164f9f44612de0e4fe5f6e8d4a86a0c030fbe46fc113d16bbbf8df9f03a6e
+size 1740344
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..737214405d8575be857bc36671947d40c0d1550a
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6581efc6771caa3b031de867790609e3e9bda323e4eb75b4385ec9644f01fbf
+size 1811572
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d16bec043cdddfbd214fbd709ac28634e8841a9
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000066_obj_002_black_frame_eyeglasses_f8954207/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f18f8c7be9246fa8236fda1610d49140fec8845e3f1d3570eb09d6b9fede08
+size 1034716
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/geometry/geometry.usd b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..24c4b835687087603590af832b85b5682cbbdf8e
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69c038ad5fe74532438510d693ebb0ebf7e115c8d92f05174640bb2c5718e877
+size 6831193
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..68f791fbf3237d3114604097ec2c69190878ca4c
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9826cf1e1bfc400307a7585c00c813369be52262cc617c5c72387b8fa8013ac
+size 2349728
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..657c48e76fc3e193c52617efc358443b9903ec8b
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6be0e6eb0a78bfc0fdbce3f9b11d5965767459d52ecc295172ee266be66cf7d
+size 2640968
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f05783d71bb9cdb23bf0240ab6d936aa9c08ed4
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6819f977865a0a8ce8c0856f20d593d29160d3e60638d90dda47e787ec35dc64
+size 1396196
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/geometry/geometry.usd b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0363b03a369e57072d2bd4aff228859fd582566a
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62176cb0ce66e66b16b716421f63c9c61e1509ffaac73bfc33098523fea1fee3
+size 6694012
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..90840817c2c33ac15550247ebca6f754cbb045ff
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb63cc339aff084c4dc9862f2bdc685dc7d30ca0448ba61b81aaab9d90bb26c4
+size 2147500
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..72efa6905b16718a79daf465471fb72e89a85b8d
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19dbbaff7976a3361dc8e3d56d4fa867107616cf7f8cec97e8fc9dcfa36cfeef
+size 2808596
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec476486a919ef62062811000f79c9bb4b9d024a
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b38b316fc4f4a04064d9bba48b7e38d5362706a1ed50afa05d167a1633aba660
+size 2112944
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/geometry/geometry.usd b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..53aafd5ed5f60f6d3e66c753769307c15258c7ab
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8647023c959fabf1cbeb21bb41290cc099c05e114bef28deeac754edcf5884d
+size 7018279
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a98bfd39142ed2684324371af6e4989125df5365
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260bc2633cad038c7bcdc2c370ccfa89162274ac3137f976d3d7bd928bded5a3
+size 3463212
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b051eeb41d762b09ca67589d26998b62acf420f5
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edb3e01ae238beb53f09de81734bbb6ad04d79650df1b0b2d64cec13f74ce29c
+size 3314620
diff --git a/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f688843fcda40f91604bca749d7eb746f8dcfc3
--- /dev/null
+++ b/assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ad4b6c0295a0a5ab635271f96689861f88ff0af2d86fb4f5e16cb9a7bf95a6
+size 1918568
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/geometry/geometry.usd b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a97bdd3aa0cc72baa0b1a2b4f2c80106c48839cc
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091ea042304420d504fd5524d8270de6f54d739ba58c79480218b074bfa03613
+size 5888864
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7632c6b810d65ca2d97ede6d6710f2b5672021d0
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363acd4d20ed704c557eb8de0232b25f85acebd7a14d6acc4cc8a4012a5e45a0
+size 3135928
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a73ac1c5c91d0965ffbc20488c70b3fe3d57a42b
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d4a2f6f6f8eb9a261438b77129c844d1f1fed2304974db80fa84067e013be0
+size 3465348
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a97b7427c506a7c250dfe349d6bd42ccef3218a
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000071_obj_001_red_condiment_bottle_with_silver_cap_08f03290/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62cf54b99dfd47bf6a8a2dc1208af5b71e5b4555ded2b276351b94c13266d300
+size 782540
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/geometry/geometry.usd b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5f4f934140d1efa0ccccb59c0a20cce9064a9264
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b29b9852b2930b730a2438f8b4ef573f87d7ed490b54739fc85fe0265928a10
+size 5469034
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..81f49f508f36906b5fa3a1917407c5c667ce311e
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d3e760586a4333b7eb0c4492b592b6b3ca9248a00832ed0c0f7845b1cb9ad70
+size 1312944
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cef5f895d8d2c0aa6403043873c0306032e3b112
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a80b7c5e8be3232219c49cd49bf2e1b7ba608bd96e458b9788fd781a723598
+size 1707380
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b557f3b179d0488321bf226c01211a013dbc9c3
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000073_obj_003_round_white_plate_110b512c/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b28e650becca36b210fa1ab56697d6622e54bcb61fe0be133dd04292bd64b7
+size 1398240
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/geometry/geometry.usd b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7cb81d643cab3cb6250042bafa54641aef37f991
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6ebe6b34280afce3c41b7bc7720b3bdf7660c93ed93b611037d6556d03f3ab
+size 5134841
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0a1b9ca8bf81d3bb0cf9401ea93d734e2c2940d
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5ff59c6a72215201e498e43a30e6735ebbc19d2ca96408c4a34de0bc304ce7
+size 1812728
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..20cb2ab78b808b8997933c88a427ac498a90ce21
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b84ed2f7dd69ae7d77c88e9723892d9d818b66ac966f455a2344e925b75ff5c
+size 2700288
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..289e66742996c044b21b8c4c3ade85a30e09b363
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000074_obj_001_clear_cylindrical_tumbler_glass_d498a755/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417a0b15e31bd237c9c44081ace2effc08fd6bd28a25aa58a58be1c575791016
+size 668600
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/geometry/geometry.usd b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0cf522264ac5e381c7639850d164ba150e76702b
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f457f2506f97b311c50522d4220627089af3b33b99f4e50b38484de6fe39d8
+size 5977655
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..804d5515aeb731c04b575040d04bd5a7ea21407b
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a44718eaadfc99a0be3d042a05b263a84164989c57ec0af74c19bc03b97639d
+size 1939416
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..89b9fab0e110ced262bc974a7ae7b2a35f6e15a2
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d6fb0569ba6935edfdc3353e4dfe41b1c7328f610eb3c11052123b081adb4a
+size 2963792
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d82e4b87a24c19368ca43b54fede31530140d060
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_001_clear_tall_drinking_glass_89e3456a/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeebcf365187342775a9161500a06ee9587da7f79280141692a5fa7d5a1d6805
+size 750764
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/geometry/geometry.usd b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..df3b4707ec831d60e802941eeccc76aad8325aa6
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c4fdf4fb326a3939d8601d01012e900c03d264322c2db74bd892a71d1f6b71
+size 6064387
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cbfc891c0d09fa1f389d1e7413dd1b15b444d4d
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29abcf2b7e360e7a63ede7e970d7186fcceca54d2d991908988559cc8088f801
+size 2158432
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..02732316c488ce72fae0b87a4ec99865f6e0e349
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb69f238185167041554f899a7a228beee6d6ddf26e4fe8ddee61c68126b6b67
+size 3918016
diff --git a/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1495c559bbcc9b55acc7cb72c0612fd7d1750703
--- /dev/null
+++ b/assets/scene_augmentation/small_025_restaurant_asset_000075_obj_003_white_metal_cap_condiment_shaker_4d9c2708/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627596e9b9ac9b76bc4a6ca804085967e6a0088a4579afa5ce185899b56a21ea
+size 1480900
diff --git a/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/geometry/geometry.usd b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4734912aa827c20d473df4ed4c22d7f37799b2da
--- /dev/null
+++ b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34da4ed10f02582b7642c14ae4f8de4619799a83058f053567b91971b118f25f
+size 5993329
diff --git a/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e39ed19c281dac7d862d05a446861e49831f0541
--- /dev/null
+++ b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05ded157cbb454d8dfc1c2db35a7f7436b29ad7d23bc469b8201c3efa89c552
+size 1405376
diff --git a/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2a0ba27da4f5b42c81806784fbf1239b84861ad
--- /dev/null
+++ b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:282c0249490d493217a409447dd0f4c59bb95bebdb4980b3e77b47971d945013
+size 376068
diff --git a/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..40478b1664984951147be290a4b0e76285d46d22
--- /dev/null
+++ b/assets/scene_augmentation/small_028_laboratory_workbench_asset_000092_obj_003_amber_glass_reagent_bottle_bf1532be/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61790217b898bbcf3a79365e7709736fd083db3bd77c8e468792976e2066a1e
+size 1549676
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/geometry/geometry.usd b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d6154b15762fab99a79178e8c85cbf3143573b11
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d71af124fcfcbcc6bb1cd37efb8b28ddd1f9db57aee6298e698148ea3af5209a
+size 6404869
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc0c10e4383e626183047123a60cef6c7ec4091e
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63182cfc6efc6fcce72bd0e76cefe442a7b7cd5b494ae7da59d0274e7657a863
+size 2573656
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4deaf4c5e7f84c60f848174564a845525d9b8c3b
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5951dfdbde73e6f280da7840668c1469b9792b693138244c0bc26c7ae866ee2
+size 3957800
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e42b7b1e5add2423da5964e2d55fe614077fca8
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_001_small_metal_candle_jar_b5445394/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3acd240f2081752d69e0b6552014cd34997b61643086fd8ddb8556b07eb90ff
+size 2018920
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/geometry/geometry.usd b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cabe9f0b308acff18c961acddcf030b31489f8f0
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b67eaeb276d065f4199d381e33220d968994856c9fe3f5bd30e179400d25e5
+size 6859294
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba72664ee71d5cc7878d38078730fd4a9c07deb7
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4487653442c8eeb71a8951c69f370d26167aca44107a2c6666aa1a630c16a7c0
+size 1723980
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc5cdb311abb10e6d5a4897a1296cfdfa7580c04
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba069fef13d72166a06072b2713d4318afdef2fc6049e14c3596ace391f3382b
+size 212552
diff --git a/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..31703e582af6cedd25a59db66391807bf53a4d0f
--- /dev/null
+++ b/assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7415f8fbebe775be8fe44db68d1a76c189375f20f968d3609925c2f4eb3b68
+size 1144908
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/geometry/geometry.usd b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c6382609b2f96c74c2b2f417be95ba2e9485d1c8
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbb61bdd80040d9d1e09339ec6ca77f1f5d205ff08e44dc1a47d2f74d023dec
+size 6948287
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e9b8760833e4fcea60a6f2fc9d114b5ac8b0957
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81845494adde4a1aed71a42ab65915166220b5cb54b6bd436d9f3ac8045baae5
+size 2456500
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..984fda5ff2139dc2a4509d35698dfc05b2894419
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d16669e914f79635bc03393e3b1692fe8d93b268b9226f80783cb260904385
+size 1765236
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..37db2c2d348e89aaf42f3c7c75d89e6025e1f873
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000104_obj_003_black_eyeglasses_folded_f72e546b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ad9982134d2f4103b6e1dd0d040bcdb095de63fa9eecfa46a11fb7e93bc1b3
+size 1066684
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/geometry/geometry.usd b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ce8ab3250a104adff0c2fffec3a04ba3e7c9820c
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c839aee605b35b35f2ad4dbb43894dde5e0effb330ba0f8effcd2bfd4151014
+size 7173507
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a125e16848787a9cc807d4ba869fe3bb0bbdc27
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262ec5dc95a64b2ba142daffd4536f774a58ce03789c3e3a67375b301778d7a5
+size 2330760
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c6d7b6a61471c13691ecb97f7e652b3f64689d4
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e34dd2ecece7c7acd74ce13d91c442594a17b0304b38ffb3edc946a6f85a458
+size 1306584
diff --git a/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aa97f6fc449f20e0fd50559378b05642d8b20b5
--- /dev/null
+++ b/assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4162882f9b6bc3226f2e33bc694968f2cea7f5abadfea1f49cf54b4c1f221fca
+size 1208628
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/geometry/geometry.usd b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a3cc163c9649e32a2d0c401ac47f3672159838b6
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c09adde8493d909dd7fb181c932b6b29bbd89239eec9aa92c203dbf4e7159c00
+size 6402974
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..219f5424c69d7f4a0d1f3fa62a37c21ecb70f078
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48adf439ec59ca87b4c22e436ce34b32475ef6483e9f233131acb509d5da8daa
+size 2640944
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed85f0c5a83c1358b618e568e0577ed739c90249
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4d770115f52f4796d88d2a623f6d34d5435d529545b2539ba189512472fd805
+size 3824232
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..78d1008c86dcc85f6060c6e8210778dcf20264a8
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_001_glass_salt_shaker_metal_cap_9b8191e1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b79495cc5778d1e34a1d06ed131b7e408911d0da6df30a4fbab15c13e9195d
+size 1258968
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/geometry/geometry.usd b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c3c5f71d89eec31edc63aa267600ec627290fcb2
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4a2d6e146aab650047e111aa312704569e5927db86b971305c0a904502a56e
+size 5898859
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d427f5fcc1bdf7a94ac991a9bc51042c0fc0268
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e71ccf56a6b8c3decbc662172f1b37c2d1a5f20d8b16303907f990712a10835
+size 1748540
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca728305941515603ddb38dd9692a67cdb40c715
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f302b7f7070bdfd6db8f8c1e7ac2118daebd813580bb4f511e32b1e7754a5f5
+size 2156900
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..21d63f4af41cc68c1376407a4fd0dd01e46bbd28
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8c689293270708d65c5a501dfe01801bc208b51297d2bb79ef3d9d0c93c7d6
+size 1325084
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/geometry/geometry.usd b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..389acb30ceb8dd9a4c0834c908337414ab5eeed7
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25281fac70bc624c0c6822fc1aaf77a342021d16b0c3386ea309b4b6732e931b
+size 5268176
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e126edfcfdf6da5f79877ccd7effea55e5b81c13
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689d7481b729b71befad969bdf1c309e389b690b391a028a025f4d425321be57
+size 1534204
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..629b2d17fb5363463d670b4f948fa447d5fbb870
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02794cc6e524be3521baeface21c5e09478b9732d8c228584ec2d5cbbb6e36dd
+size 2137336
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce9562f032dc8f5ee949e4ee28419ed519559602
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000139_obj_003_plain_white_round_plate_a6266c34/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6155b46af432441d3a70929b64043b393c308bf64d2c75e1d323ecbc83dcda07
+size 1702456
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/geometry/geometry.usd b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..34cd860451f7095e6eac3ac246be97525b5ee0c6
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c882c96a5e778c3c965bc1bc1beb96fe095d41d34f51ae253328edaec9e0dd1e
+size 6477853
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cab50134d5669a00b4ea0e2bff5eee31964064b8
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6af544b09797c8576f95a39bc4376fc503c7eaddeb64839f37e02afa01fb7a9
+size 1580528
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0603fc879dd9e7a654317a4c2db5fe672b341ab1
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446507bc724ee28d654fa56768efc0f96cda75a361c293c964cde3bcb6ce218a
+size 1161088
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c66daad60d5d0f32600e1de4fca865307baa94d8
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_001_small_metal_salt_shaker_faa98623/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:408156752fd8cedbe990d443127d41f68b05cc06f624d57619ee41bee5f397de
+size 1304412
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/geometry/geometry.usd b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..29cb5a731629af87813b8b087b8de422d439683e
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f824286e7759a3fe1716c7d37c46737b4c5e59b4ed7860084302e84eb26f29
+size 5671276
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aad4b9ff815a5206b91595f40fffe3416edab15
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2181c5fdb18fc58b594fa80c4e4ab4337e1d28af9030721b62e4b275b5df0bdf
+size 3633012
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..34f57e0ec1216547139381f2aaaea09d0ca6a9eb
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c439d997a207013d4bb711ad28f40f6203ddff183a384d16be59962d6300c5e
+size 3440284
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f46b4e3324fe9bebd9ffdab76d66be04b69f7af
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000141_obj_002_dark_wood_pepper_mill_281110c0/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7f0db51c2bf998a4e20c859a752c3a34bae1226a67c5f9c2c9562b774aa4cb
+size 376300
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/geometry/geometry.usd b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0eed832f19386a709cb54cdc4af7795a969f3614
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b7d14a5b724c66b99933fb5365f4426f0db5a83dfdfb4c2fe377d3b1b0f7f7
+size 6095617
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..776762afdc07d70f1de21816e7bb37853470d0a2
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76dc21695ca6ebc442863c5f0611adda4e872e40fe1c26f583362ffbb3eb14f
+size 2106824
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e45ddb2d654ff703de3a05c9d1de3a491bf6f7b
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c62944be4c6b457cc8a549f9405ec10ccc2b88befaafd1ae106a707dd0ea452
+size 2706264
diff --git a/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dac6f4e3b28f2a7ccdfdc970f0a78a327f399a4
--- /dev/null
+++ b/assets/scene_augmentation/small_035_restaurant_asset_000142_obj_001_restaurant_ketchup_bottle_bebe6857/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99663d50e8e5db0bf73b7726fc28508b42acf5fc2a67af71162b7cfc762ad915
+size 1463244
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/geometry/geometry.usd b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d3da41c56d46aab98db7d3631d49b75e327c93a1
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312252588ee227e1e53fd176680f394566c024bde32ddc29c675cfd1f72536f3
+size 6056714
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba0b20a56d2cf415f445d96c59cec9e30843d3a3
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f489a6e1943c43d86368ebf31d173f2ec27bf72b23e3f1c84e8eee1df4e704b
+size 1922492
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddda82943a164338e2dc79bf353407e2b2657835
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6172352da348a4acf3ffa5ec9700e10730de8fc6743c01d6df80b58fa24f135e
+size 2577676
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..549c18723ed434dcca2c0a6d0ca9222e83b3367b
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000125_obj_001_clear_empty_tumbler_glass_d1d22290/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06b9001952fe4c8aeb052745a711fdd5f5d8d3bc89aeed5e1b8ba9382c7b9826
+size 885956
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/geometry/geometry.usd b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3da36a0178ed41ae670af30032f23098e1cbb3fb
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509d67eb9304e6f0878f005ffd2c44c11a8fb7e43f00a1e30661dca56982a40b
+size 6234330
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bd15ef62b049d68b93cbd8c5041defc57e076e1
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4eb26c3cb3f20de56caa7c5b4ecfec963230727126583aa2093972072876da
+size 1933736
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c05bd716329ed62658fd2095daf4645617dc9134
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b212ab1b33c88f8f524b853bfcd681271555d1d4c9cdac87ba69aee8dcfce4b7
+size 2822204
diff --git a/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd289e6b2b41008ec431888c2d250edacdadfd89
--- /dev/null
+++ b/assets/scene_augmentation/small_036_cafe_asset_000128_obj_001_white_ceramic_mug_14712ab6/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad5e5780173b10854b704cc39bb2a97a825fcad7eb9455864d6041184e0222a3
+size 1577180
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/geometry/geometry.usd b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..61bf12d11c838d7e2ef75c016a4b66f7148801eb
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da95a6b62fb230a77e705f7ba1ca3f15bef27dbf3f31ec2e969a1946fc49701b
+size 6688743
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd1878f43346b0ef49c02c21f062b6c3a03fea7f
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1606fbc4169ad67bb39aabf0883e7f12361153a6709a0e5141291ab50daf9a
+size 1775892
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f88a2e378c64fd21c49d5949ed0b8c1d41381f
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f245c9451aac3b502fe8417f02ede6154a83986ec34ffc943827dc73e8cd19e9
+size 2403036
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..db5f9c6339c978362865719ebf959bcfd932ba55
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eeeeba726f078494fb33f423ad22cb0d581db24cd7a9d05a1205d28aca5a323
+size 1543664
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/geometry/geometry.usd b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3e9efd12665c7088c920da4206256024b7064605
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a465f8ebcbf996ff9897c274424693c023545e59ae38e0fe08232251a37923
+size 6560755
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0068ccb2628a49b84e22c878a7c4231d916fa700
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4860450967992385ba774a541bcdfbb50c92e474614b9759d8d5cbfcdb6ae8
+size 2769216
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfeacdda534938d60a9ef7b5b3852856faad4dce
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a23a1234049eb0c17c6975bb6757144d50ec476f48f8cd9cb6b846de98557ea3
+size 3733592
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe523d93587b2445b38234b0dc3d7703168eb709
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b58f637afcb12b5fced72b715a0abf24a73c69524592ac6bc54f96e96247bd54
+size 1950708
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/geometry/geometry.usd b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..01ef0e90e3c6495502f4ff9a719989cbea7f3bd5
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c166afbc2d159572baba03b57d47f5c17b3dd5c391aff8a8b4153d2cc5f697
+size 7074483
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36dd8fdff90d93051fb627483470236ee6e9b218
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eaab9ce3f565ba4bd838667b1247328e54504963667a259d314c089af62a0df
+size 2814240
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf7243a6c8eb5f27c2d6f5de3578171073222a98
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d674662462eea1e80444416dea3186eac61d5eee25fbdd5ffe87c9aa55f9579
+size 2418764
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc9924ec04d1e968605eb59e047bd639a82790ee
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76abf95db7e649945953da93c0d5e070d5799f76a1b56c13bf5a4d2041e8490
+size 1372696
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/geometry/geometry.usd b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..73f321116022f080b0ef8143a464364ffbe453d7
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5c656b39370390eb6bea04210cea00f601b2c888996811386edc96e87e37f5
+size 6436526
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f2ba5f90b4b957c15734f1908ef780081ec2013
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3fbed93026d2fc11540058511a4034544e0100ad9752fa143c2ff3596169fe
+size 1860168
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..73618f5231170a17acfc2023f15153419cb78f79
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa87e5f3e9786e985f2c91700dc693e2566dc777056bb6d5266db3c9fe1abc8
+size 2285888
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..a55f704885df9eea598179493188fd8b29f6d786
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000157_obj_003_black_frame_eyeglasses_b78a8c31/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1063fe6e2879ce1c60cd9475eb2b858b07b6786f965935bb3888ad47881f293
+size 1416528
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/geometry/geometry.usd b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9221ea23cb24b08af36d2e86379fbb9cc1159c7e
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd88880bb3db3fd68c72864d379e541ccb6e484fe5efa3b171a48a3805c54cd
+size 6706302
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e44b568ba56faccd29bac942443394750220cac1
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:582da4c04991bdb4d5d33cfb2225f25b88f98f4af47142aeebcab2291f8ac061
+size 1220064
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3205b223e0837f65b85d885325ce1cf497f00c52
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe85a89424f6fbc1d7eaf195ad76f3edb1678b26c4fe07a450b8c7710a2c8cf1
+size 44412
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ab445f08291bf0f41f82afbe579a90b14a02658
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000158_obj_003_remote_control_dark_gray_04b58917/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d4574427742a5d6948cb32b11358267d5d89350bfdf80811f48ec654da3a803
+size 1130924
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/geometry/geometry.usd b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..daa14e5972df6abf0d770ecf77cf0cd3a1c916fb
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fe9ae4daff626c8328642611e1824f3d8c46afdd29df422e31c7b3496c80045
+size 6885466
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4e539966369182dd25337fd885479238a431bc2
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e357164105c5f102a59d5482ef41fbb3525041cfa9cce80dc048878c34697a
+size 2277600
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f843ea671a90a4ad0fa27c0a7cca16f2020730c
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5afb870fac5601f8e09d31db352e983a4a1b37fbb2995ea9f2a5b11904837b0
+size 3282988
diff --git a/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad1379c873b6aa4b771993436423aa5cc61c9abd
--- /dev/null
+++ b/assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51dcfdb11222a7545dd96b6d8ea39b3bc4abed0abf9283a2b722800387df4832
+size 1133532
diff --git a/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/geometry/geometry.usd b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8510b973281a024ff63c95d0799062571f92f08c
--- /dev/null
+++ b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7233b41c8152f0a9d4fb28b90b91c535d6669e66cea03846efdaf650c6aac9
+size 6690758
diff --git a/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceea8ea825db3b9b8790e3a223c284306194f5ab
--- /dev/null
+++ b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:185a71d374d4334a541a8cae05554a7001647d7100bd5d0e09a7599136ce0778
+size 1823540
diff --git a/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d12c5674546a2d48c16f3c59bf8504acfd08de11
--- /dev/null
+++ b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5708bee8de65db94b8e900ebeca9abbd5951313c8f52610c45074962d6ba3b79
+size 75084
diff --git a/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..76a60cd36908506717bf61a6468e42ac42dc9328
--- /dev/null
+++ b/assets/scene_augmentation/small_044_hallway_asset_000162_obj_001_black_rectangular_wallet_ea5e0830/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb360a43a35a0b72566a0f4618f14d5165ecebba9397f533414ab80a68b3a34c
+size 1339600
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/geometry/geometry.usd b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..16838f567bbb1cca73fe0e441887e2177347ec95
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b00c5ab6e1ea352374ef29e52d898fdeabd80b0daa7e157626a3bf45f27301
+size 4619628
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..720fa935c19d42b657f57f0b1af0d0d51a0795b9
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494275a001440ae32029ab36ef8347b4a120eb6e18949ab8f8431ebffde54c3d
+size 3841368
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..63fd1426985d3d2a6888fcff0d37db5e5eef00f6
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d061cbc60245d03f83ba13492d37298b722b381a439dcddb36535618a26f7e4d
+size 5804460
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bd0de29f4626bcb4a739be495d4976db721a5f3
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000134_obj_002_stainless_steel_lidded_canister_23bb709b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72631453a1af640ca35e63bc85ef52d76760aaf4f70cb7ffc0b4d5850f0e56e1
+size 1504120
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/geometry/geometry.usd b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3d360e90c75d479e9d76e073c5755a598a12bc07
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1b8dd1569a44fe1fcd8d3a477b42773d4910a1bff5d520a8e3c9ddb4002488
+size 5780039
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a146cd65f059b48fcaebb05fe1d8e3493e94522b
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24d8010af4cb045b47ca9142b46beae5bd3c0a260ad775b670e7e0301f06890
+size 1765568
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..43692ff02973085ca866232a3997ee84c22680a6
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657073549aa4d08d6550f5f8bff993035e228e4c408241a47b33c9fdb42ca5cf
+size 2848616
diff --git a/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..df89a8e09a99b45469837ca31faf4e7edc24d1bd
--- /dev/null
+++ b/assets/scene_augmentation/small_046_cafe_asset_000137_obj_002_white_ceramic_small_plate_ad213df7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd4eccbe08b70c1bc78d50824ba336335becbaf79652dadb2bd5fd6eeeeb983
+size 2194164
diff --git a/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/geometry/geometry.usd b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..82777b0173ba9810a2ca7691fe2712e24b03b358
--- /dev/null
+++ b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4479eb048dd4799ed5157e53658f46db05dac0199cfea5d1337f4e9395396ff8
+size 7098991
diff --git a/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..527ebfa136841160e4ca667609d31e34f8f36aea
--- /dev/null
+++ b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7264f8479fced29f0bc87178809c78840547567b2aa14015b4036762ff32070
+size 2669656
diff --git a/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..58a7cc0bfb4249d0b5f2b8b7368f0d7394827664
--- /dev/null
+++ b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1224402b39d502dfb7c5ff688fee88c97cfccd546dc0ad7241c2ca889db641a1
+size 1781760
diff --git a/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..0814cb2039d3b35b553e343a7864d389410505ce
--- /dev/null
+++ b/assets/scene_augmentation/small_048_laboratory_workbench_asset_000167_obj_003_blue_lab_notebook_01_3c701ef7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73b539526a4aa1d732c520458f863ef5d576f2681fba1975fb18fa5cdc2fd903
+size 965484
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/geometry/geometry.usd b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a65983496e65303bcd9b5aa6baf3a15add266249
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c9d81cc9d6c5e2d156e5fbeb50350bdc04e8e15244e7e7add7f8eae6ddd63e
+size 6540915
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a54b80090c06980972318e3b86b82c66d478b1c
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:302884c94f56fb304769fa40c507bfe11c1ed21101fcad9bd869306ce247b657
+size 1128092
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..99440fef09bae1775e0c5a8677d2cf53e107fdb7
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:124c770229f302cdde74b6a9d3b8e4123de3ae76bdb67168d2014d4cb1937e33
+size 761064
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ee014841959cee15bb6533bf4af9c8ee5ee7af9
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f42469bc3d0d68046173b6bb95a69fe42fd83a85d4b9746a8240df39dd9b23f
+size 723864
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/geometry/geometry.usd b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..949f0ffd5c8f9d3e67be7d4651fc7b3b444d36cd
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea560aa7d4a4f257e917bb2f294e8c667a6f154ae47ae75dfef141a88fb4008
+size 6367418
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..876d10fd5a2e7468bed1275c4f95ed377df2cffc
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a9d92d73f5fc6f5816d1ed5456cdf3cd045068da82d7844d6522c34b6c9cef
+size 1370860
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1c891a4d299bda96ceaefaf9ce9cb8ae0308429
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ba7fa9cfc509aa7b7610e87616bab4a770198e03dc03405ab9fcedb355b5a2
+size 3159424
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee3f25208c58687476ea2c82f06e827eee3651a4
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2026dc3adfeceddeba2ce6c2b0388a272da01ceee0106b858597a6755b41870
+size 144928
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/geometry/geometry.usd b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3b6b4af3f397409ac98c0f7feded7cb433a5d8a4
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef88d23b770e760acbd5ea1375d359a688ab1cd39058ef9475d73655c309de50
+size 6239042
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9888c9644919c89fec5f45ff8baeeff183d3f78b
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d18767853cbb06222c476d343a4b808a018dd4c357e607f9e1ef0ff2160570e2
+size 1435708
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c34c74fc2c20dce1dc29b518a5d6de904ed8c66d
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a051e9ec7d9a7c0f07c11f45d3b01f46070dda044359e9e566bb778d2d3cd16
+size 132988
diff --git a/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fad96b6c6013dcf37855f6c1b04924ee0c5be85e
--- /dev/null
+++ b/assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cd81ae591b0ba5520ea89dc0085807e56e55300f254d8caf7acd01ff74ee80
+size 1761232
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/geometry/geometry.usd b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3da2447781cca5f6908c0afd900481bd7af0add2
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be81e4f4f02886222624b9cfff71dac2098522c4a279d98ed0b9028175006068
+size 5536851
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b37ad4152ddc397b60a2e6835776261a4636efe8
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b6a03f16d0302409ce0deb7118d6bed5eb16c6cd7c91ae0a4c9ead983bd5dab
+size 1858268
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3af81979c95cf804b1fcea51dcd2f98c5733dde
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:307309eba0249b680fd5ff700032fa331ab285367930b2dc7177cfdcc126abf7
+size 2688156
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..814b5d903c7d52d41cb7dd7609ea3ea7a40d9367
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374bbf758c78ab5f977702065963c1fd55f68fa9b8197dd446892000eb979ec0
+size 1953912
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/geometry/geometry.usd b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7d49a34a7a49dba3bd943585b7fbbc263aab944b
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab23ccfa4ead653fa7bf62e96207188aea342439828ca766e6d4a0ac46b0e46a
+size 7083209
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fa412c34a642a178217239a6c5b7c777436d97e
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efa37c98aee5f14e8af3cf4c31416109824c3fed72835cf6ebfaa334abc471da
+size 2044324
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5c3b30a480d2499c7293d6f69851648e8c40f3b
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7a33fc6cd754db648b22fee6c3e38f7d29746ab0240f69add6e4b21ba3a115
+size 2873228
diff --git a/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7795b7de870100fd5082f93bd6eb0104cc19c83
--- /dev/null
+++ b/assets/scene_augmentation/small_050_retail_store_asset_000189_obj_003_clear_acrylic_display_holder_ed743f33/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fe513ce82e38b5a7fd97296810613a9b55c0d8dface4686ba321778eb4632b
+size 1441888
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/geometry/geometry.usd b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..65001151b25efd0ed4359b209e835aa7f0aacab0
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674077383c1ef23ae90b61732453fc3ad2fc023ab32c4d0df8ffb423da8e6ff3
+size 6480202
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6674f18d2820b45b8c0419e0034ac7e0feccb15
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4a40018744a21f985847f6fbc48fd67b536ded88ab145a3e659e6c681b175b
+size 270168
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b48dc7f08eb3153acf87888c15e810f64f76ad37
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b0992d9f814aa053fb9867a49cf821eb65618ac5e4663e91698755f8d5a1d0
+size 95352
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..faf568ac21a661c02cfb52dd0240234b8c4f4a6a
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17b99e9d6528b972a3eee7f77b62e0c72716547274789b3301c7f1fbd348bbe
+size 1649940
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/geometry/geometry.usd b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cc52ea0921dc66540c7c99a08d0b4c008551540c
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c74d927509e633df45865bfe7adfc5c6cc462fe0abaa8b1793275008fdbced2
+size 6497362
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..580f7785a7c64d2251bd59ad6ac039bfe96646a6
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260bc8a44ef90daabedd865bdd58e48f53a25f3f733ba16dc6956d2cf3f20065
+size 1846108
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..07675180468baea32fd3d88df3960c5d0e120a0d
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ceb15aff293a548644a6c8325108ea42f2e860ba702879a67de45d69ba9ded
+size 2518056
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e22a510356c0b6c24d560088fc03e38bd3d91cf
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000151_obj_002_thin_round_wireframe_eyeglasses_88be64d9/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2068bdc60390d0f9107d8b4d5cc275386029f306a59c73ea42d240c407283d5
+size 694912
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/geometry/geometry.usd b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6f1f4a93cb60f121512fb8c7bd8a9ae835e05f77
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b2f0f0068962dbd6491ae7497ba26926e088d76cfba362ecbeab10cde26e20
+size 6937868
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a44652488b1980079ff6159de8d2cd08b06716e8
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9542f8f76ef2164859255c269547d0d5a824300edfcbd0341fadb45f4ca6f1d8
+size 2119700
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..50b944ca4ac6553324027ddef4818bb585e163a3
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b348789ed2e2d17f19cd0779703c8a77bf62cac06220d93a09a8e5e4fdfde758
+size 454980
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee388ab9a38990198b12f6735e650cb389a30ca8
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ea52104e64aef78b2916531935614bbf1339eb4b684f7d8c2a36f3796ce8ca
+size 1558712
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/geometry/geometry.usd b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c9485138679a43d3cb0a430cd83db87b91d05f61
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d74ef3c1f1914482950c6f607d7fd68c2f3fe2e77b7105f95bbdf37c39c775
+size 7021079
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1de1787a233397085822fabb9a3e0b83ed96248a
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a635f4d2fb6703615e44bf040d0c676e401c32c43ffef0d284828b2d0883eb53
+size 2543248
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6615fd463727cfbbf5c08c915e408cffeea24c97
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af72e3e57990e2f7e6ffdccab40f012201cc7a3954830a9c1d1d7b1a3156138b
+size 2336936
diff --git a/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..13427279cd943c24030e178ef335d11804b67c0d
--- /dev/null
+++ b/assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd2b2ec00f52ec74aa9da1421bf9e960e24b9d090e4662d21db643195c783f01
+size 1368064
diff --git a/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/geometry/geometry.usd b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cdba8a696dc9f4db64177a7d05240271ee204d56
--- /dev/null
+++ b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0deeef859aada0198168a89d44658db7b7594ea74d39d41720681f5d9ea096
+size 6949869
diff --git a/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..61499f98f3f4456a50982d34dde9c08426e31ec4
--- /dev/null
+++ b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71590827d912a9fb22816cdd1c84f85da1a4ac8039dec3df2006788aa69230dc
+size 2267168
diff --git a/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..07374ee9cb5746da462394c7f72f3c4baa2ba61c
--- /dev/null
+++ b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088c8a1bb4be6c9ddf237cd5f8a022c410fe8109895d749ae4cb139f43732a4d
+size 981188
diff --git a/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8042439c9315753e138bb4683adb60b4ad9954b
--- /dev/null
+++ b/assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d5b3ddd2910341764d513722ae3b171f6e9fa02ae6261c0e568ee36ebdf1e1
+size 1104144
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/geometry/geometry.usd b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..77fdb8e42200ebf7a1e5d52785e81cc5ecde31d4
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb33c8c74b8fa92942bd3b3464773501633a74d09c3e5c6ad0205a396b64865d
+size 5775771
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..024c3343fd6dcb10bb29c5a5fa09d732359b2369
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b0570e0d61cfd40fb0ffba27aac93c3d47554e2926eb7e7355f6fddce13daf
+size 2092308
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..aab294de10bf3c69145126ddb5c55c0313d9e013
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ee6c35f060c7031ffac7243fbb5b7f3f79487e92fdba572825aa27b67af1e5
+size 4287600
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..985383af8552762012dabbe7af284fd384fc3895
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_001_clear_glass_bottle_cork_efcc3d94/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4869a5b157aa3a71f0114e23bae9b552685656c215a0473b3c2f35e5910384a
+size 1059636
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/geometry/geometry.usd b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c60328c57ffc50f745f8f92299349a4868277a3c
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597fadfb9033f5f92118f12b43e57ee6e346aacd624d24d9e07e11337aa9f4b9
+size 4840817
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ceb499ec44aed72bd9291b787a47a022aaa9fa9
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d71924833b25c72f27ff4c06f82ebd9eb1efe7950f9e6dfd5a25961ee9ab0f4
+size 1960752
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7a4c6b46cb030be91a23d68df15733740c8cd78
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1025ba8622d320dffe7144232dd52a7bc3f74d0af8c200fe5af5406e92f00f2b
+size 3713296
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ac3c9a2c22f80ee8d21f0d53796ae9c1f64cdf7
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6251c5648805f72b889b32327d69b2aef8adc5d947bc33a69e472927e41bbe
+size 555520
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/geometry/geometry.usd b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cf8136bf93694066d995046fc871a4113891be67
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3180f30a8394cf1cba0ca2f11a9a722fc1a47cb7d69033af213a2ffc2ec8ebf6
+size 5588497
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf790b0a45a65bd64d1fd385b26605ef4e755e3c
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:484bca28b6483cec9011b42ed9a9e1ca2de51c7c96d7d8d54958bc9c5d81ba0a
+size 16916
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ee06f54a7acd199aa5ea5a52135a943a13ff8be
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_001_dark_glass_bottle_273acaa9/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23324c22af7e5e16551360befc2da56346132aaa4c8de1f38ac6d453333cbed0
+size 789288
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/geometry/geometry.usd b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f7ff91584b75868a4c08524bf6f961457c120a39
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b054c996cd7d05760ae050f9b37450c9bd511e438d7f276d20920ddc376fc5f
+size 7088102
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d54f37278a2148aa64ad98eabd1d3739e642a23
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a59b53d3306c349c6f735fa25e24c4566a6a7077ca09cf0aeefdd98a3f98d72
+size 2586264
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..8918cc3a1a58b7a9461d708ed0e14af661010c06
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c0663bddb4b68dad369c21ffed2a26e5180fa954953ef29f03dec4750ec92a
+size 3009052
diff --git a/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae9c05d09439fff9d8666d61b7e1d03e709692e3
--- /dev/null
+++ b/assets/scene_augmentation/small_055_restaurant_asset_000146_obj_002_silver_napkin_dispenser_1d70bc68/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa5c48006dff377e05214e9639e7c1489f254122d41cdc7b3ac5bea3f8bc421c
+size 1809176
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a5df4fdc4ac9a503dfcf67a2d26bdd1fa560fb05
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5466f404495e2bac3b87bd49c495bb8ff913c47f2b96c2b05d105d490b1daa
+size 5561773
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d9253e5943c10f278f26b69e776fc59225a266
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05137a4fe60b7f0df9877b1709262ad735b3a31ef8b0153a6808c626d331ee27
+size 2726380
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..bee52507d579922719589c24b3597ff83b1f83ad
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:895fdf4065883ade2d3753b01776e5a198dc9011d5e06770f20138b2ab7e25a0
+size 3531616
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9901f0888b9bea102e3253a8d2a06e468167218b
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_001_shallow_round_plate_brown_1dc2c42b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b430388331a241be6165f48880b7bd872edddba9bcd8ea0fba31cac9615ee483
+size 1393464
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..abed77526b22780d146d587ec707f97bb2bf6a41
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74ffad0f261cefe14747d0aa078455e680e2c28b6f24042a8bd4a02e0832a02
+size 4821095
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95ed75bcb1e9393a6c6a4f941bfa6fe7b755c512
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b63bc1e7f38f0af18ef7d731b0989dfb08b94dc274acb7188391c81e4e69ff
+size 1941668
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..898ae816b609ab7780c5467c18c9a7c0a48d6857
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445a8020ad87bda98f4162ae16866dff6bd6942f2d6f3d2ccc2083c1b5289c18
+size 3305376
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..b237a32637eb27bdfad93453943305cb6b49f647
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000169_obj_002_white_lidded_sugar_bowl_5fe464a4/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2164c8dd21b13e392e1545d683d7a0da47c46d2cd9dfab5d4e8b657169ba1a51
+size 1350532
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..67115819467e7902e9cd47b21dffa54e87e4752f
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db11050c5b11cf2a24f3c7cbfe0bce2cbe51f8e1897a63cd7ab323d50bf0d71
+size 5471465
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1885d1826a7115c041b40f6adc72d2578876190
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1b235ade859354007c361bf6e577b79ca96186a8e8a8e9f5410bfbf8d89399
+size 1979056
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..029f5c197f96768f0f061d15bb12641d0a304d80
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7abc29b251761f787433c7066a597be1809539089b956f67ca9e41c27996f6
+size 2788268
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..db5c2fb850f0ad1d26b20c4ca4493e8f07aff3a0
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:604872bfb6141e477969479bb458523b1958ffb6d73c778b2795d6ef8007f2aa
+size 1572932
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7dbcebccdfdda7dc6c61ce049d1801d5889908ee
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d01616ff2505d0755daaec43122cae19c123c1808bd61e330a17ce0fbf5ef5
+size 6894424
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0075b596c27bf4ec444df298e22acd45d4d5c93
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c715af90db2af55f34eb645d6ddc52a6fb069d108d4c96292dd90e5a995c703
+size 2348544
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c69b2de5da67037618ee975044d0b9d4451a1b9
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63da9a473fd5cbbbd2781b5a7525eb715fa6c62c38c08e78c7f116b2c37a47d5
+size 3686760
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..775851b36ec9232b16e559ea539f94e87232915a
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf526fff3916fe8394575ada08ba3e445094bd518092b8f24613ae0106e143e
+size 1324984
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1350cc78f09953af3e0d477a436bc2aad56f6010
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7af37b60067b22bca156683df55303c3e1b5f83b4d8bcd4440d473aa3896c67
+size 5687898
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41187aa8f5110d740cb38a242abee4defb0f79a0
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b20cd5d38dfdf37e8a348198083a71751086c4ddd2308ef2c641f3004e591ac
+size 2268368
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8d359f3fd6a5582e24b34e99b6f9f6b8b0a3c6a
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b43465a692ca96f0e640887db3f7144c120528ac7d1ad09044788d0569c75a
+size 4098764
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..75907465a7ab78a50ed17fd464ef777714f8e414
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_001_white_ceramic_coffee_mug_fdc6cca0/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dd0bc0e0fcafd73620038f811a345d1da28903fe845180b6127b800569460e4
+size 1217080
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6abb75366489325c3d89617047aa4328e1072a4c
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97eec227fe72a9e8c732765f1a353ceead90622b2c8c4d2965ff124ff243eb6
+size 6558429
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dc5ef37f29127c4fa2831fa8f2106c4b5debad9
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b832e2d4be72125e1a928c1294de9cc4806d4744460fe3b72fa30d5a933a58be
+size 1807224
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d8db355b79bebf427d8a3afc76a58f7e917a5a8
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27dd59fd59c3c0e051a6547d74ba1468f462dd73809edb79099a6b55025dc84a
+size 3376620
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fd15eded9a99de483714ca8a088aecc57fbdbda
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000179_obj_002_glass_metal_salt_shaker_d8fa1471/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab0e2e9d5a7d4f73f0c633d10380ac9500b4ef35638f6ce206faf4469cdb7475
+size 1805524
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a85e3fd1c3eb4d082d35615131dce9fed2e193fe
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6815b33375289e9499859be126efd55f2c0235a0f6b01705dcfe477499cde6
+size 6380294
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cc6610ac02b6eb29f2ee08893bd8eaab703a6e1
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d378389e60a7dcecd75abeaa59d821308da6842838bbfaba1727d15c6069e5
+size 2314808
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0f7d1d9b8f1dd977df16e1ee2e80a0e577eee8d
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad10abfd8e2794cb701bd024c41e7f57395b2884ccac24eefb01970efe4521d5
+size 4224940
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1ce6eaac5c16bba528b3bc82a9fd1a93022e556
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_001_glass_salt_shaker_metal_cap_66f1a619/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4607f9d92838fe0e95e29fb031bfdadd4a9b154a7208f4022d4f56d872f7aa33
+size 1353780
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/geometry/geometry.usd b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f7c12f47e975c99ffe23ee399aacc70cb2b9cb59
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d8af6b70c5c664a9bd7deda6a1002dc21d1237b345b1f65db93d35c8ab7f804
+size 5536677
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd245f96eed2f878124d39f0bd68937708568962
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26c96be4fd235cce074a5e384d0d92b4e432546d1878ec83e71aac75aa274d3
+size 1737744
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..16563e8328fc22eba700a645a79eef8370bbda55
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d5eb5ff525c4ef131bdaa92fa073d7c8d403fec3316a29732e9ae9dd8a0a77
+size 2868372
diff --git a/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0db3a8221641888aee859a4b377bd3ba9040930
--- /dev/null
+++ b/assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a6f9f8bce9269f192bf1be72279ca3eaffdd09fd0ad9d8f866d278c6756358
+size 937656
diff --git a/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/geometry/geometry.usd b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d2ab06a2d79d67e6d58bc20ee6bc82af76df5be3
--- /dev/null
+++ b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3afa88d8b6ae540da27d8557209f76c5c5e963729a0ff4c8d8d7f7e6703c6649
+size 5853535
diff --git a/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b347fc33aa1244cb5a2084fe57772cad62c994d
--- /dev/null
+++ b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:613597fcd799d0d068ab5d98fd3931998cf2df19dc5088d4b68c000e98da0adf
+size 1754404
diff --git a/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f69aa54b9f407888623d648add06db5ab3be39c1
--- /dev/null
+++ b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31016784a1bf39da8154f8562aaffd7832a550ac285c6c39e42aeded9a8ca89f
+size 2953476
diff --git a/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8c9b4758c9755b31bbaf421af3d29f98acc97f
--- /dev/null
+++ b/assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4b4030dbc6b6920bd4aba30ccc2c87591638662fe84535f5c2212be92713192
+size 753240
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/geometry/geometry.usd b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9955f1d915048d34a74ece313766646386d9f322
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c731d0d603f269294928f853c5af4677dc08c87245f5478bb8553233a28f9ec
+size 6844661
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75023a4906ea6fdb689447fd557f44f912586b16
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08749c6acf82cbcc7168e8075b8cc63972c9d71a84410987730090fa625b1314
+size 3724296
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c79c468a752c3e29aec9f6387942658fe7c9064e
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003911e896e816e6a08bb725772b394b4dba34ce93e6f92029fc099b47e74caa
+size 4712880
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bd8512dec2f4bf85a61a7669ee1d7901b1e033b
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000154_obj_001_small_cardboard_shipping_box_866082bd/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:231a417a55416268a684a013ace3464296e0f957ba4f84a03f770f844cdcea32
+size 1099444
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/geometry/geometry.usd b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6125a9bbf08db9287f1b68a4842c98088b3edabd
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd14f190509c486f2c01f9568e401136583b58a5705966048c18dd602ec93f7
+size 6875398
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc704010c36431be6e12aaf92869fa8f6dd2337
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24baab658f98abda61153acbe385eeecf3e9e7a3a8b2a49a7c6a17d698d9bcd7
+size 1915260
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..72de3f4a74632f3e72d43315673e5f407539a377
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9181afbad4f7cf5bc13d5695c7610af0a550ca711ccf08bd77f51fc871f2662c
+size 1427664
diff --git a/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..b03dd90f1d75a74a0ad2c63667db6ac4036c3db0
--- /dev/null
+++ b/assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1461e1ad07686075260a505326bbd93272a3fa26872ba7e7288bccd3fa66300
+size 1473672
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..212e8c61c731054596267321ea440f1d6d54adb2
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0519b43770bdd296cea7273a4c43a74b1975b4cd46e747b4e283d667c71bb064
+size 6954941
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f08e1bc703db99e5111fcef70d21df1b16c0fe7
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46670d9405d3607e52abe108a597dc49a61d21b5f0440160f3aa7daf2707e43
+size 1911720
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..023ee428660e9bb09b34e65c0632c69f50d172d1
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9545b2662f6fec39e5e65d30b7a6b64c5b20f0f607f87f5faf773830a9b1004
+size 583000
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb5e17f32b0cb108fd6c4207ea2a78836f6a092d
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02de5e856552eee97a41796a3d82d6978009eda52e569d519ccaff2e408fe842
+size 1746392
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..061fad7c3049669e31b98293f51bebb95aa91e39
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2d2350ccfd27378835bafbca4e34912fe3f96a076a8f90382bed87e0f58923
+size 6686271
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64202165196d58b12eeab8980ba20cc60ec84404
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5116d40cc05c47fb6bfff70f7c67ff1b4a27b30141ef1389bf3cd44205073088
+size 1774756
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e83b0fd8f35bd440845dc34d2cd3863b8b848324
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21a55698be746fe06fa2abf6c064e37e7f32dc141fe771c5146649f54ae87a1
+size 2385408
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2f3bff13e4d5e7ffd49c2265496fc082be4552b
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000160_obj_004_small_gray_remote_control_1911ab30/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d1fdfba127f57e24fda03429b8a2ea4a227a699e35f2b14b7944bc96899b10
+size 1743924
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..de9b73c6c27d46aa8c5851ee94b6b0ac79babd72
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a571a06d7eecc3dbfe6e341d2b02bea8632fc3035635c000bdb0fb19296bee2e
+size 7104569
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7a0f3b1e54d40a6e4eb90abdf8c769bed061958
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:393d36f1507b43ce6e9c2c6d59647ec5e322dea1e7e2b9393f10f0bb2d4a1b62
+size 2425512
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c821aee5ea92b6080bd0edf3b26b00e0564e7fb
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8715cc16a824764ed61d69a2688510a2afe29701fbc4f934fc511b6e43695e6d
+size 1597400
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b60eaa926336e92ad4bcdedfb3638830526b847
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697e93a9d3fb6a7ac1cecd4150c04f61664a9ebcaded5bf578131bda241cd4c1
+size 1382768
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d575febc21460caa03299a8611b083d527a091fb
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a164f7d12713fb22f5d184dba5d29d9b3fe9a8d15ea4a83786ca92fd80e61216
+size 6629682
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39325f1548cf0abadcda55e9dc4b9a8870ccabcb
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0934dea54ff98e8a5f62cb2e85164fcabbaf00f2eb1d652a1cb99c5e1fae891
+size 1459144
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f163fe71266853cc91ed284931d8bf6d83f1dc8
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026ba9cd3b6ebc6618af950940e9ed54115bf433b2a3113d1a8ded9e8d5aa164
+size 1746720
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..64b3ddbe9fb4e6b48917ec7a4ca6d8c22c5b36e5
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000161_obj_003_eyeglasses_black_frame_78339465/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3e2e130b1689d7dc49c3b485d490b00769f187152a7122948a46ce64663eb2
+size 1673260
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..57fe4acbc3124631bd84bd7a647c009732de5d56
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca72b1ceb184d27c4a2c94a1d6fa7a53fac0e2b63e1f4453afa572a0cf92725b
+size 6997634
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5600203112b56545d3a72b8b1007b64fa21dd0
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3d39f4f885537ac8f45753c81ec6facf472dd45eda6df84b1c43c744ffda0e
+size 3047164
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1a83221e948d6fed7b24bd37577758bd1f2530d
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4876817004143e6a5e5217093dad2208d60a92b4012a83ee322ec8962398944e
+size 2210296
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..229a9155834c21887f92d02725f06f249c8d5f0d
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb55074d5d2b14de0697ee7db3427a8491b19ae553317854846eb4e148a482c
+size 958552
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c7439a58fa61ac900aa3e81a194e4deb66c02727
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a675963fbdc69569e98e4a60f1eeaad81dd533c27cd3d0dfa185ff3baa9d259d
+size 6285096
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f593e8e79a96c19f1325f26914be671b2f9512d8
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640be5678375d90839a747dbb9a67e197fc1cb3923e3d3582abc5be74e271751
+size 3119380
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e474f7dc12d4c98821b1292fa87c5a8eab27f37a
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c2c0691f1a15998937639c0ec1fbe57f6ebea82cd7ad1ab5fce33da0e467b4
+size 4532068
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..02c12d0e05edac19b68df3c2a2ca5f469cd3b424
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:768e5406828d345757a79dffc3b7951eee7f02c10bd774c0e7c39a373591999f
+size 1591552
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/geometry/geometry.usd b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c13a686b769875129b97602a54c92b8c93e28d8f
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f98cc9421b0eb6d024c3e20a0892e0e06bb4531edf18ce8bf4e190999aa451
+size 6500970
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..44c4070e816338d6195c35712ab8a4ba0d6c8e82
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:484d179611de30100454298e048268f1a914f63f5052ce5f15650a36c712d9ee
+size 1930296
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..eacb2ce7fc7374c6f751b0146e21c1e3a19cac90
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03b4dbc65a703b38535e2229e2b0374477c0cf8a50be684b4ee79b35144c1c3a
+size 3027448
diff --git a/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..204dc8192a3f2780fe0319a317986f9d5e62f155
--- /dev/null
+++ b/assets/scene_augmentation/small_062_bedroom_asset_000162_obj_003_black_wireframe_eyeglasses_8d8eb51c/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d55402c3eb321bc5e1e3014a6ab49c790523d65e163b48b0985037e2da75013
+size 1623812
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/geometry/geometry.usd b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0e6d65a9e0d201b6d8d0d8d58bebb5a0615fb95b
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c544d2eb4fb9f9f64b6b93d50f8480228412d3f1264b6fe9d199278c24506ac6
+size 6452508
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25d559382a721256ac72ef2fa6f894b60cb27d58
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b702d411d07e4d06851e01595180d2ac9d4559e64d030141bf0538e37efd0ce
+size 1154416
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f3a20ce214eeb373d68a5678f3650bc32c02d9b
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2adc79ba51aa784c3c8fecf152b63eb501da70c5894331b7070ac856fdc4273c
+size 33824
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6c64b7b0b39a815430b094ac3845c20179af593
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1c7ccb6d186fa95d175f82188aa00a8b630ea1a2f56f238b511a24b0841646
+size 1516484
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/geometry/geometry.usd b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2398d60f6c1b6f78db568189e119d05a318dfee6
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598f7e7ea443541d83f964ca4cccbec7628f1e4ca1982221e46b1deb949e300a
+size 6663178
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..565a7256a9a7f8a852a25a07ea0ead73be30e97d
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4da3605f1935f300ffa2f19f4e32a4b3d7dbca270f8513dee0c962d670d0d36
+size 33584
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0538813cb2213796c7311400e3bd128118a6bc98
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c86dbdcc093243604192c9f334e7cf7eb3adbd8d60ee16509dd8596fbdb578a
+size 23668
diff --git a/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..48f0e0f55c6792ef671c44d3ce44938b03d84dc1
--- /dev/null
+++ b/assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d760a1bcb5e8d845098f47d26d7496268133c81557fb9077448412e1a2eac599
+size 876828
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/geometry/geometry.usd b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..eebc4b5ad89bca1d6f86979caa26ccb08192c56e
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eaedee3d802c44855814a9997bd987d8c56945f1ca0e3feaf55e1a7f16f98d7
+size 6393379
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7235d7a718588ce12d768cda50fcab612c25164f
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8987849374b8685809f65a8bfbaa937ef37e06bc79a58f6065be1db184aa4cde
+size 2175476
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..21cb5bbe0448463e828dec2526f0af358fe909d6
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af93f5f2bcceb0dfc0c6a4d5d505666f0aa74be321ca1c240150c198b35683b0
+size 3593280
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..40e5ad178f00104962553c0a757185000b6aadea
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000138_obj_001_salt_shaker_small_glass_metal_c3883ad2/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:734512e3fdc935261a5d64cc21ffd015288fc8b2f60b853a51eb32ac64576a6c
+size 1602456
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/geometry/geometry.usd b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..68e003132a155b6b6dc29fafd01eb2c8c16d4cd6
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8facf4a279388bce1cd2b3fe1bb89f8679fee39f2e84b726e0a43d2e7755b208
+size 5923674
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..80110aed1ff5dd2953103477d1b7c8898261121d
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20e8980ecac31c7b4d9b9f7844102fc356b7400d607fd3be88629aa0a319fd9e
+size 5032108
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..54a88dda07c158abddb90a51aa35993f28909b69
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb645f81ca6cd965bbf43a53ac0558df6c05879fada45e659d189d9d15d58d20
+size 5750068
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..78bed41db15e5dae101663f19fc7d0ec9d092b16
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000140_obj_002_small_gray_lidded_canister_e876debc/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff3aa16f148b182b4d0c0687560a3425716e32aa5833cebbf8a53a70bbaf07ba
+size 1779088
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/geometry/geometry.usd b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0a4a77eda6b0165f07e1b6afd7e66f04276e94be
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa25f8e623031453b821516b5de65f03cdab74d0f3398d04637184371c6a095
+size 6109975
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..acdb93a023ba476f436cee1db6d2b3434286e511
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:986c99a1f86f4e2d79a95e5fcc7f27a0ed8689151aa10a95c9c80b56b95cc782
+size 2056748
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a6dc6a15415ab30668bfe4fa25366e00170b027
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d1b378480c82d78d14318bb85906806e50f2b46cd9a5810dd5604fb0c6f20b
+size 2586764
diff --git a/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5282442908c1f9d6fe9e186d3bbf0905f7b5f8ab
--- /dev/null
+++ b/assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b06b1241a1c44bbca1bed04c9b74a55fcb5280776a0848c7022a8b9a13c001
+size 1492784
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/geometry/geometry.usd b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..809e3418814c2fac5df3d7426c57245e4d4c2c72
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27979043c889692676e18a49e203387a59f3822a1e491a8b10e4427f7ff9967
+size 5347998
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b99f4cfb33e16c31d21028dd9667ff9598f28a82
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:069e6635ae7437a31655f6b70f49c840b81736577b0c448dc8fe6e05a1da9cc2
+size 1823564
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3af35106ac644163ce0f235ddedab7b4d39db090
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b32731d84906c0507ce48fb9c8483497779f2cf75fed1ce31e31edd894b3539
+size 3525728
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..54fa5c397c3e35bcf7926c092cf75a368b72e170
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_001_brass_syrup_dispenser_53cc92ec/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2afb0240795a6345ab7fecbb095f44495980560ba446a145bbe09b71d8bde9
+size 1435008
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/geometry/geometry.usd b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..885ae53dc1e0d013c7e1962ac6428914297400ed
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568c371c939499886193ab3b2d2d35a65a51c3131d4a3a7fa5a2835b94dc56ad
+size 5615904
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a5e814e1abc070dead3b0caf2cd6eadb62e0bc
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97364afc42306424c2906c5e80b0a39662ed120e9f940d5eece8f27c1a2476d5
+size 2103756
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d6a03212e1a712fd3a710b175aaf91f45281041
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e335a4973173a7a5f1a20355842156027411ad28dc8dc2dfff0a68b160908b16
+size 3439584
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..25739d41ce3192e5b11f7767582e9abd58548a7c
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000126_obj_002_white_ceramic_mug_f5c6fb19/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3388e5e953632341ce603587d93e99d9682ba7be5815eb402faf6d56c922510d
+size 1487308
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/geometry/geometry.usd b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..47b03af06c52b37a47114c60055b60f4b6566b37
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0821cc3f08d2cf1b62560e468459f795ee573b3205b05aae8d4881575e558b
+size 6300774
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f809b79471954d48528133053c650cad55ffb13
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8536f6a68d5633cbb792380a1385e2289bbc04eeb47736d2faa52aabea09ce
+size 1813540
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a6e024119a33133eee80ee59627d5e8d61d944b
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70082cc95b1c9c0014b665004903633f35ff91900ccda3f6486ca7ab2f0c8b5c
+size 2749864
diff --git a/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3f59fc41ac826e13e4e7e19c21a7f929cf721ea
--- /dev/null
+++ b/assets/scene_augmentation/small_066_cafe_asset_000128_obj_001_white_ceramic_mug_9288f1fe/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc256637c944092415b13c4bb7d349c980d1e4483dcf3de9c956c37a9fc4e73
+size 994236
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/geometry/geometry.usd b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b7140126cd3019e36512566c05985806a6517fa6
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d5a9425169d9a4a616bef25cffc00a60cd233adcdfd4c8588ec2ee8ee10a32
+size 5900234
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e10f1c0ead8033a84181a66d684a595c2ccf017a
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d64de3863a6ae444abb65d4010a154348371f31e40121779361a4b6b7484f3db
+size 54636
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5874f4fe37f7f61b8efe03674230b55396389749
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87972442beb29560a176c4f607f1ed39cbb70ad9b05b48561da4cff4317bad6
+size 48000
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8d1fbfde484ee20e60ab839e232a50e2e6ec667
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac725c24eebcbff342624cdb695c1669964d9cf722aa7d75cf3b4aa03e9c2be7
+size 648292
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/geometry/geometry.usd b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5a5a0d738b8d6b8a9b8556f0dbdb16656475c8ad
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30205bf511b4c6c4ccbaedb1dc220cb12af42e4e81ccfa4eb992b1a5b828500
+size 6694058
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36ff6cef5a1369e9083445f1106f39c2c7d832c0
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2bc6ff772aaaa09bcb9c43857a90f3c4c1978692cb325a95eced8a7fa97270
+size 1176604
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..e091dc6c0ff208fa704ee2acbf4c0cbeb43f245f
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b117a41b8eaf68134463e21b9c6f3c7d44654456a7f6e6daa9e2d396c94f3ee
+size 22160
diff --git a/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fd92366a0078a6144efe3b45816de4e5f4c091a
--- /dev/null
+++ b/assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070848bce1fac84c253f0a55fc540e0e07d4c8c10634423f1c1c7e438d4eacca
+size 1649976
diff --git a/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/geometry/geometry.usd b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4e1d3f16c5db09626748d882ea18bc63c527cce1
--- /dev/null
+++ b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e002c7058043bd1c7a3451dd6741447d1f94fe15be665dfbebe08ea3cb3fdb
+size 6070457
diff --git a/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d1c621978d4f8ad1b141df401cc6b08a51a259d
--- /dev/null
+++ b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6f694f21aa43e4b964c703c0628d0f4dc7afe7c0fdc3408aadb39a4c3524494
+size 2005384
diff --git a/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c1349e665d7f55c8337c018d03fbeefcb25235d
--- /dev/null
+++ b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1291b760eaa9208769d4b06b367c7c8ee9a8e291ceb0c0796966f9131efabe72
+size 3003228
diff --git a/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..7af0a178719254802fb6abff0f32073ff0acbb99
--- /dev/null
+++ b/assets/scene_augmentation/small_073_living_room_asset_000110_obj_001_glass_jar_candle_off_white_wax_e613d3f8/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0997775ab6bb584253d1a7bb5ade1eb39dc7c75ac65f766baca3f062d8a2c805
+size 1172428
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/geometry/geometry.usd b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3a631175d0f82ad4f8dc1b38fd9b20166fa011fc
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5791d61884996806320079b208b997599cd9174d94ca0abfc919cae5ceb17ab
+size 6500337
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..86fd882f0a624dc913a773f9346e33c942bd6a64
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1effe55ea69bf8ad965fdea2c020ce5802b970a50ad235ba9627063e4e47de79
+size 2502928
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c35d58e295442363639407a3b5367fa322f90cc6
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4727a8f846a6b794a7a6f252cf2bb9af0556649b71eb86ae668f0e1e80403e5a
+size 3870300
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..2aa63f56161e7cba21f61e6342b1a65fe9c3100d
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_001_glass_salt_shaker_metal_cap_55e46ab4/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82cae63aeb6843a41cd7721b4c52f119fbd7737a3b57e5b14074074b9e112085
+size 1696824
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/geometry/geometry.usd b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..13dd21fa7852e1f490d2b6bbcd786af22cbe981a
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834c700d5c3cf5811d7bc7ed9aea86479a8f947112f7c6ce4dc17742bce2ffdb
+size 5290444
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e23ff6afbf650c2561ea649229c930938252dd7
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b4d32b96468ee0c2211bae4bc6cffa58bf741d4aaa07e57e27e864f33a2036
+size 1738036
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f1e110684581ad10252aaf1435545b157f1966a
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af133e477c769a2be3f8384ffe53696ccef84ac9e18d185aadabb7a51ae5ac7
+size 2317900
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea54d0d15245559e54e76e6f9039ed25848879d0
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000087_obj_002_white_ceramic_ramekin_96bfbe80/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3826d2c96a1274a2349ba0b859a6484271dd151426252b273e36bda4f3f4a30
+size 1335152
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/geometry/geometry.usd b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..943c14354c90e55aa057e0f1399c063b148edd20
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da8d859056acbd62958b4d80ee40bc5dc90dbcbbc525a7ab446df5eced42af5
+size 6403398
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1810a4588cb8ed0fedd7afcf039f63c0ac6d8d4
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48c3844035ac032451bbd40e2b82a87cfacd00bd891096a175e372fdcc28653
+size 1908916
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..463a96aff214150e58dc7167837e26167cfc5440
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ab809a5a6f735a4d8c1f95947b7df99e8adca53967cf7a060f530f97a15be5
+size 3247916
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccefa51514032f9ee5469e2606353da4c6a830ac
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_001_glass_salt_shaker_metal_cap_46131cdc/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3854bc788e9e5a01483a2c36b36b90a202fd1125f55b815ece3b6eaca20133a3
+size 2370876
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/geometry/geometry.usd b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..640496ae55f7532d4ac647ea6c055eafdf75271f
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec3da469a25f5c73317bba78060de0dda8dc2b98551da372475215e31b6b6a8
+size 6443979
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d42aa48c1b34435c1531c7fb7c1678365289edb
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:912cbd6df12c8f11796d5e3c9090b590cb7cd04f39d77ced5d6d2bf80a8a6aca
+size 2478748
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d24231f7a262ef69a00c0331b2b6916891487442
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46466e3ba89c7e46bb84ec1bcac32470747392281a6d9a695949b9510d78676
+size 4538796
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..27435f8bc8539a2bc5166fc883d14870efdd57be
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000088_obj_002_white_ceramic_shaker_7f4e38b1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143ea017f1a9cd441eecc749f7ed31fd7f45c577c8c1a7d6da5db21dfc86d3dd
+size 1824552
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/geometry/geometry.usd b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e1b993eea9d728e23b367892eee35644fe618c97
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636bb2f1426e53c50caf1cea3cd7f1815fc4a6d620ed93d2e1bcb40cb121381d
+size 7052183
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac22d9d74deb5a9ea956894ff5a2838125726e9d
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb0f51bec0aa863f422895f26701d8bebfae14d0cddfada6cca800b36c7b633
+size 3594516
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8b4be6cc6c2bfa390227a0e7a030d639bc8c34
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae5050b5aaea2ef5631d3d8aaff0bd5ffc33fef2337723836e364899087a570
+size 3770780
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1091fca8601a4dd6ad6b0bf6a1ae07a1cf1afdff
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_001_closed_brown_menu_folder_56057580/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d934df20bcdcb181011accf21a887a4c8a886f9c3446997427c1b2d51dff96b
+size 1421504
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/geometry/geometry.usd b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..823ead90fff0469d6e0680e8702afc905730c8c5
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e19cbbd067414ecab17e9be660ee6dcf0248f372ddff72c1e9a8be64d9a0ed0
+size 5987067
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13b5e56249f7849bc475ed7c9796d9cac584f932
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478f24cafbf837648a596f87ecfb2a937eb1891dd382a94a45c6d8ff6a15073d
+size 1951396
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..741a18bc66f786eda5e2588c44eac9adc92311e0
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e33701a6d7a66862ca391cd13a321f85d04f53e284c0471a3ca2219684c8d6
+size 3073596
diff --git a/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..207a55ae40d079dce0bded96aa16510726c7ec5b
--- /dev/null
+++ b/assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ebec874af48f07a72c2221c75ab941e9b6bd90ab41d0f9d1b42ac9b29093aed
+size 939988
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/geometry/geometry.usd b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c6f679b5854687922dcb0bcf505a602c367884c0
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab4de800f30259922899b3e07f8d4da6e91833011cbd73de1816d0177f4c36c8
+size 4973642
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fed2f1aec1a8cb8d85532629f964052d5c6b458a
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e90dbfa9986d20e42959e9c310501e28da25621f71cdb7fa83f8960b4f677cd6
+size 3095736
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..04b7c238a3efd21c990176e82c6b35cd3e3a15a1
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c8fa854492ca677e2aa0bc916673120a41915da8efb0cd06a96be8e680e82ce
+size 5021448
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..72bffe3ec2dd7a73fb9df7c68d517e0e8523381a
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_001_small_lidded_ceramic_canister_off_white_82ac613b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55920538e982418444710c048a030acad7170adc1a5e45dd71435a8445f45fef
+size 1758932
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/geometry/geometry.usd b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..76c269d18598428f32e1943039110db5a9de7519
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:184c1530b8ed23a5b8fe9287b700949ee23568ea523b813ff1d405fc5572af70
+size 6744888
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d69ae8de54efe3716b99bfc78e27c96d9e35b79d
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e51967ceef4af004e28480ddf7d927795864c7142f5287eb34fc63f529587c20
+size 1282704
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f4733aed94c74eb9c1288cd51ba3ebe298c9f21
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f28d310b5d1167869f266b406d0fd77e37e0e6cd67737205d6617d987ca1067
+size 2484324
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea5acdff0cbb8c63c84e1d64b4507f962249c5c1
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_002_metal_cake_server_flat_handle_c12ce817/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c493c7eed9981e6149fa7aea3c08d1fb2c5f2a601395e04ba06b9219d98f3aa
+size 894680
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/geometry/geometry.usd b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..332fc3ce1a6bbba156f7a58d8e71542bcb55d8da
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c95c58e82cd7fafc1ff2069f4f82cfa2ccfa0d1dd71a2636af4bde819568e4f
+size 5901395
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee86a688d7cca3c93a2f0a543981f85317fc154c
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1e0613b1b415c782b9fdae841658dc1e8bbc5f7ae0a79411061355da4c1a24
+size 1968492
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cb475117c3f721fc7a33a5655a4dc6c0954c0b4
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e776a4a65dd8401709435cb7e91b178502956a8526d051a7c5e661a8b09190
+size 3353524
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a78af628a75751ed8864c21d5ef454d08ee7a47
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40aa28ee6306529cf31e93f41ee55d6f0fc1efb177901514580d57b51a94d0c4
+size 1865712
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/geometry/geometry.usd b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5a400616ea8977af027d41149e611aa76b9cc40a
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dcf29746c89bc1b8fbbf276c16b1ecfcfa87e5a1f3f09fbde1d074ab98349b9
+size 6357122
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08ee39aac7181bd9ad5c9bfbb7ca2378425717d9
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de5dea9725d322c7d52209e86a92f2b63861cda30932098efa372a273f180d8
+size 2140548
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..62465d83656554690d6e0bd5d49932dcdbc90db6
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a9dde5d8df5991bdf260d6b6773d389dbd9f3989ae126dbc7f0ed397e62cc1
+size 3290188
diff --git a/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc8c265f0d4a3041cf9371d03456a1ed71df27f2
--- /dev/null
+++ b/assets/scene_augmentation/small_076_cafe_asset_000098_obj_002_clear_glass_bowl_small_a88ad79e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd7654c293543a35dfeee9328fe0e700dae0e298e0f0b9be221ed6a8d39bdcd
+size 1662268
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cce215e62f53f7f6227e0740d69d91c79e4daeb4
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49232894088e7e5b7360e5c54bae2ddb4a48d27509f0d3aa1e427c548d38d066
+size 6582207
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99d5a400655977aded99c58ebea26c0bfde7d460
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec336a55a1fcd8c4a35b70a4042a94b177dcd08147bba30286924de391aa38f4
+size 1466228
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b18e7b6e561623cb2a63d42dbd3092784d3df59
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4d9febdc3a91f4ea757c4ac07f68b656659ebea4cb01d64d47ac0bba1e634a
+size 2739492
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d955f3b2f936c2fab979a5cb32b9e0ea7390eca4
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_002_black_wireframe_eyeglasses_d631df74/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a11e3e660027d279d11a718d9e221cfa1d231c3b7fd65406785f0e51b5755c67
+size 991428
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..43e1f574ccc531bb2ccd94eccbb538d3e80bdfbb
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441a3abdc20ec6f78162f46bb756632818ff6c782434ddef3e76839c9c5f83fc
+size 6713965
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..efae9fd7c2cd4e08819ade12f6a30b33872029a0
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a44e950b9869b69ea8f641627c1923ae2ef8e1b5bb55c8c337373882f469a55
+size 1294640
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..68aad705429f4a9d334fbd86a517a9c0e37723d7
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94e2f36db337ad0065aabba6372b5725b7db24c099a0e0db5953bc31db0a4ad9
+size 278132
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2b3107f62b025e2b1ac883f2a943d5f9fa61c21
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371ad2fb9d50259a5892e79a908d21abc032a1ce63db8ea5e5998dcc5f569ee5
+size 1360364
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..676953183337bf856d8899c274a69ca7b594d16b
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b0176ad64c6f70cdd35488394ffaba081ea66cd24ccd11bf1b55d1e86641c0
+size 6642110
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46deb9f4a4366ad1f9ab392cdfe1b6c2313e235f
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acfc1ef0c97b4bb4649f0a1539febee9324970feebd5c5bf3eb4dac7c3dc58ed
+size 1451696
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5f31d26beee5edd77869bc268095faa81b9bb49
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb2fba4f10cd8ccd71ddf8b3ece13c997f85ff3781252a573c4b0f2a2445479
+size 2189372
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffd3f3a20c5bbd24e89e688b5bba6ce84bc929db
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65720102dc833a4ea72578727020e19058a1e38ba13ac316c3b5beef70df6dc5
+size 1153408
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ab7665e8b196f2371ff4ca78a7fd4e383c1ea950
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:585198adc8b86268d6457d2cd35aea57269b5af9291fc9591f6c5f9144808045
+size 7000384
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..47b49639cafdd3e573b6334f1ee8aee35dbf8bcf
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658e5b7989aa9e1863385aa0835b1bb360182d2e6cd918794688472794465995
+size 1781764
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..9eac3a00730aa54efbfa6841b2a83ff1833ea9c4
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e801326c4c2a9010ceb5a0790540eb8150d9eb6c8ebc21a237968beb5052da7
+size 2884232
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..47e77cc2154a9f8ec6a2b61a92462ac61e84637c
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000077_obj_003_eyeglasses_thin_metal_round_30080f82/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69da3106a9783bcbadd1eecb4e1de75ab80b3ad90e2909e5e43924bda2f8a3d7
+size 835064
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9544510aaa3fa2cdd8a51bf31ff4132f50e1f802
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e940a507a59f4edc2217836c0f03d6a20a97d938a7c693e89a3b1fc8ef3bd34a
+size 6703690
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d2f05fda308e3f9d484d794fbeb4c264df7278f
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd44f170b0baabb42f6ad863173f8efba5525515e95839da324fdfbcdddc7011
+size 1688424
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..83ffbb10e3261706858a1e3e1917e5ebc7f90e17
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964b8668eb481c28ded98ec283a621eafd275e499b239cc8d1a9b107fdf063ce
+size 625140
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..48705bc6d363661e6c85aa13da1943aea61864aa
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_smartphone_001_smartphone_0dd4eded/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5c3634c4359a0118098e836b17d51d9dc701688e2622b22bec0261e897a34f8
+size 1813712
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d8cfae33e9e0e25bb23e81b39573917ab39baaca
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b87a1e493460a2e7380fc6f28076aede0f5c7a4aa32671d1d7921a29c4427d9
+size 6318913
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df271783525c9bc64b6aa617a5b7c61bdd8d97c0
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0051d5665ce641e3d60f72ad608cbb2478b66b9566b2b6a345443f9cb26e5dab
+size 3787624
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c21179c869a6435b7677453d82f4d26779012ad2
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79b02a1df8d3cafd923e472efdde5804df61a130c2dc3a86f7e79d35fde7289e
+size 2616176
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e07caa15be5775d42bc3b2ff4c0cac6802ac650
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000080_wooden_box_001_wooden_box_ff95761d/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6676c8c9885f5941c0517655ee684468edc649519ec345da891b49b5f5c35a37
+size 1562344
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5867391874104ef237cb10feff32fe1b24c18c3a
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4582d593c72b1d43fd2c5c4e17029f0eda94d01885461c716ae860a7e0e3026
+size 6937105
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4256b146729fca443ca966e082323840fdedabf5
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3997c7a98532fd426b9696836f1c990ec2b17af04e179ad1436aea6e37526166
+size 2346880
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..007b9eab58939b6e9147cd256e753c7088c15013
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f009f03a730b8ff3d016f7b666b578b91a82e98c75e6e851dd0c5bee16655d6
+size 3936816
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9bdcf73ab266737c8a9f449b6d4f735ffcb72ea
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_001_brown_metal_eyeglasses_237c02c6/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9175a08e2306ab8d2d89413ec460087d103b4d7b8e4a21a03a9e7abb975a8276
+size 959940
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d9708eacc20c0aca6da6492be3d0028044fc03b3
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a8cf361658f35c957e9884f5be548863568bef325e06f0adb27a8ed4dfb9f45
+size 7000840
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d3ab204c8c7d59fa3af4abd8c7abdd0218263db
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f50963506fe7e080accda2ce147855459c6342a3a87664de38bede7420d85fe
+size 1858660
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..1aa748f653919a0a151d18408f299bf9d3635ac7
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05964194bca1d5ff55bd281f2abd4956956b8c4252d32aff95806b2ac123c023
+size 144000
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..36d8f6d33d13ada8eef1f0ee5af1530328545b37
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a6d621040023502c7753369218757802f7a9b4315f0283b067bc909bfbb42d
+size 1440508
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/geometry/geometry.usd b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6269542a212013bb6cde216b4a3e4910951380a8
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac6362c27c02f8c661c2c43f34e3af922d755b850f6c8155d29014a073af31e
+size 6961741
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2033b7360fea7371f49f550fadef20fb5fac702
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e425ae2beb7f257917a4de147c71689b44cfa313ae00a4886877bbf8e06838d4
+size 1760420
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d175cea7f7e9387de48999044b1140604082329c
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a501baf7808571cffefdd65ab7335c5f8cfd9097993491da7d2616a8c34a62
+size 2541344
diff --git a/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..b505b74c4113a1b159cc5db487649126b3713e46
--- /dev/null
+++ b/assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8599bc9b26c1e5056c5e24a24cfbad407ab4d6b38e272a4600b6a3deb1972a57
+size 1486460
diff --git a/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/geometry/geometry.usd b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9a46c23a5034fe884fc371cbe39426a76f9bc201
--- /dev/null
+++ b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461f7705c6e4282ae1700edcdf9dcbe9ebf88ce348d779f9aafda1ad14ab1d0a
+size 6787559
diff --git a/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9cdea8f492fa8df6062d04c9716f40a61506ef4
--- /dev/null
+++ b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cfaa4c871305fc57eab9ac35696538c33eb6f962eb30755ec8c05154af8acc6
+size 1727176
diff --git a/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca8e07b751571ac72c0ad3a7efbee0cf2892d1cd
--- /dev/null
+++ b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dac60d79b1f4440125b9dbd9a08923717c4375b7d248bf001472c47e85cbff7
+size 993388
diff --git a/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..7572d91ce9c8f9f3f8f2f8967a94b415768d9ed1
--- /dev/null
+++ b/assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aedaa3dbe281b150e9b810e60fc35e0e4017cd47a422c71d77d6295b7b0d8e1
+size 971488
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/geometry/geometry.usd b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..93b30096afd40d55586e11ae2c7b4f4a4c139e25
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3b3eee0ab3a6a58a64b8fbbf521ef41c2e86e97102c0b55f703288ad508627
+size 5731209
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5efa133414b997c46724aedf39dc090dff5cc47f
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8adcf10b57e7bd44ddf7bd58ee5bc865b547ecdc58f2524f743767a467e9b0ce
+size 1664312
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f692fb3df2f2ed0b840ef14a200770f085d053aa
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02f37f75e81d5eed5f57fcbe21a00ba2880172d190b476b4bc5f01e53938ea0
+size 2628620
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..df042c06b0668b278276b6ba1a433a5abd5c85b8
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000066_obj_003_small_brass_dish_2a3a5e20/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b6ab898da3317fabe40dae5a211cf1d52de1887503f1a64cf5b87181c25921
+size 1172376
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/geometry/geometry.usd b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5fef638be6c6a4cfdb8f1b5ea2879308687bd4c4
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:696d111dfb641ba73c3862054b6b2a8e0271cb1f96c1f00cd57cfbb528f275d6
+size 7288331
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0634df8405cf9081e04ccb48a790785897ada79e
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5240854edcb3cfbc719387b91e3589c7128da3d6ba3f78e932754cbb75f4ff8c
+size 2445764
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2012459dbfbe712fb6c32d3fe85aa933a6d8ae5
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7264d09e25c349d9e2052c1933cf6192d218bd28d1747270806b42c26ccfc87b
+size 484796
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..04f4db9d100d6b56df2e414016425bdaebfd93d6
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_001_brown_leather_wallet_913fa7f5/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18fd46f3849c8f9774118991ff8406a79c457f336017709ece3c8972bb66d416
+size 1920652
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/geometry/geometry.usd b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..94bba8c1cb03274b5f035c1678cdf974159a443f
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbe4e5630c242e57432fe1c26d17140c54867812b3001b0b89f05379b4ce54c
+size 6543480
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3df2cb4458fde8d592444b7ef01d26003e994c17
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842d7a811b669f9c8d21c520d19a22b30221d5e3fc33e34a317278432c8e251a
+size 2064800
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2b1655b726a26a55cea76549e01192e40145885
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6dbc4d94b0281806cd1b154353bbe1fb85a3dc1100da98474945ec5948b9b34
+size 3484396
diff --git a/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e33d2115040e3e64802279f03e4d296f6977fcc
--- /dev/null
+++ b/assets/scene_augmentation/small_084_hallway_asset_000067_obj_002_silver_metal_key_b27cda49/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5542e2062bf1652ce600d9d7e7bb509f2b4484503fd38f579c604782c477595d
+size 1610376
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/geometry/geometry.usd b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..434274ce89bf438807fccef7ef097fd74a3a0eec
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73928035fcb2ae00c9fe87e7e49d169eae5dd3c779bbdb8d8eb3e5a7ca6f5570
+size 6308921
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9629568e72660ee6716093e01325d66a906af95
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f35c915eb35a29610dcfb5105f51ac1a12da59585aeaa85f1dd73e3ce37a0b3
+size 2961000
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d53f258173be179f37e59f7805e2077f83206f08
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6314cbc339e4a040c9514cc4bd9a440d32da0c3f2848d88bc11000fe5bc4ce
+size 4681220
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fda833043cc9f6304f3abbad78d2d1a722976413
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_001_salt_shaker_glass_metal_top_cca0e94a/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d9bc8de72fd1faedd6bb686fdb792d4f5a0a3827d4e23f92c8d0720476df0eb
+size 1322568
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/geometry/geometry.usd b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..08567e684f5a5bfb11c5acdfaabbea88c53611cd
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7944e188f5e7214f93b8226264d7f7360d1a04939c93821b69711b49d51395a
+size 6622649
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac2c7f03f2f1c2935cf0d2bc76ecb611797b3d8b
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8988253c699df94122324c889a256e6f9ccbf57c822bc715eb079cce5e6b0718
+size 2603432
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..86c57bdfb7cdec7198979d42b7547cfc8f7747a2
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a557777c36ee90016d0b15aa7e33874b08d4a4deca8ec18fbe08c56699429b16
+size 2276792
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..8acf3a31d96f1db8454095e9491f88f8594734a4
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000039_obj_003_wooden_tabletop_napkin_holder_ebef83c2/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d121b5162e80e1b7389bea97a70341d7de334d627ba7cb761c57832046f28f
+size 1065780
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/geometry/geometry.usd b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..09bd89cbd126d277f3dffb57609c543e02ee658c
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7bf996343732925b80d9c96f07ba7e14a89c27ae13c7930e8a5afc8f5a1b3f
+size 6346706
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..17bbaddce9b69dd3a0debeb07969d6e4feea4fd9
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:376327b20c5548adcf1950e028a245bfddee9fd387b33a509b297d17e3ef95c0
+size 2269720
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd205437e3f2721c0c69f563805afa313b257fe4
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e75c280edd5b642a2b1f2386665bbcb4a90c749078ede2fe59c96d86b5fdd9
+size 4398868
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..77d26898bb151f7307c2d6ce59f094184a3b208d
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000040_obj_001_salt_shaker_glass_metal_top_f2d02d37/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66c0d385fb83f36a63acf56e84c9c3703eb3deac9ad651af8f95a4025d3a9f1a
+size 2246632
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/geometry/geometry.usd b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2aab2ac5b92acd4d4ab07674eaeac5e1bf120c58
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add090d74e7929329b64df28c336f98e41d4384da89ac22a329267d0e6d828f5
+size 6247058
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f6a67f6d0eb1dee721284c95c2c6eedfebf3853
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272c65a7f3985f5b3aa0185261172daee2508496a50c2d73dc0325ba54fb9069
+size 1880548
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..654c3db2d5ea6653ba90ab34b9a04513217afaad
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ad48267231917405fa0117d0e4bd8d685d83a5c9384b7df77386e547f9ccbc
+size 2673708
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..49135916f97cc229bf226e4160b61cb652d11a74
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2c8fbe9467c9287237693d25a4a954fb4354f13d33a9e35985c2552c6ed898
+size 1190160
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/geometry/geometry.usd b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3e94a97bd00ae25fcc811495edc35c5c91a98ab4
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d418f0d0495e66cc7edf07278d0e0cf1efd1187c23e6cbabe6eb206257de8c1d
+size 5086242
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3daee3f9296932fb5a44d3aa6fa0ad8147964e2c
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d6d409a6d6dcccd33f39f9f6dc0139e84f68443e105120401f46e2f0981e2c
+size 4091432
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..921a205514bee991a7906f917b9f091e51ff0066
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a90448665747715e494c28484874bf3ab9d52e60a9290b29600192409b5d4818
+size 2336860
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..814a64cf2f31912968ec43a977f947105d0f2e20
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000041_small_lidded_brown_condiment_pot_001_small_lidded_brown_condiment_pot_ab8da28e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36bc5654f6c01187773b5999809a9cfe4ff43fdaa312e54c174052f14c38fd09
+size 1112180
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/geometry/geometry.usd b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f81ee273e4d93b12d8cfdc96b8ce884c83d69111
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a1b10eee0c290a319e4c73aa286b26c5afb6dfe703727b8e9aeb33890bcd42
+size 6282422
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b25245f4d085923cc7e4897637e6c08407661d3
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b397b054bc22beebb46ce91242d5297753aeef636612ffd253f91fe420a634da
+size 1975984
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..71c0a2baf144e7dbdf6cca17f5b6929c39f8568e
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c73987d9bdf8b749405b3ba31bb2fb5c6860f8a3a80908dba42fcd33ddde1cf
+size 3745088
diff --git a/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d425b6bd88e5f94174b67717414bd881dce068cc
--- /dev/null
+++ b/assets/scene_augmentation/small_085_restaurant_asset_000042_obj_001_salt_shaker_glass_metal_cap_61a61fa5/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1eebd15dbdf86c84d6e448983b7480cfc0067d9a913d2cb450bf13a711d46cb
+size 2403884
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/geometry/geometry.usd b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8e24c52b3729a082670f0d39249d615aa074b9a7
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d682c8114a0269eb9cf361e28dafa0f185124a19c743fffcf4ad08fd73eb7a32
+size 6174566
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c79a79d49bc9475491eee03170db35d926b62f9a
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e379037c3d26801f9f02f0e852c26ddcaaf94fe0916a026f9f4201251b3c9ccb
+size 1693296
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1dd2152b36cd7695000f8d12029a1216349004d
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa59154fc372f586f232ad9a62febe40ec8e500a99a86e8abecd719ee1f51763
+size 175536
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3359bf1554d73b686568f77cfe23a39df5bed8bf
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_001_brown_ceramic_mug_31356a30/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553660dca2a964749c29cdf0e35060f038654406a7e17ac579f26eb3025fb9bd
+size 1373604
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/geometry/geometry.usd b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c4a8f2e88c487553f0b4bfa963805b374573f6c3
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5ce6567dcc40b72d2d40f74865b11e43f9838e5f5b7e67026c242ff7543c3f
+size 5031792
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a7c409384fa011c07e9391dd831fb70bf4b1bb3
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9021222b02486cc6f2198fd649cd12e4c933aadb66e8ebcacfdde1f0f81762b9
+size 2006068
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b9f9c4b86b3af042ddc480e1c3d270beef22d2a
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a12dd35b8b77da955d51cdf1dd488cdc66f4b4895dceddda30522e128004e725
+size 3962140
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..08a304cb481c35cb198236d2f6048a2e979ec400
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000068_obj_002_glass_sugar_dispenser_metal_lid_b68b7453/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:189f83e8f2a07c18f69d33117d027bf2f5366ad4bb999a0daa9f4a37fad0edfa
+size 1771004
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/geometry/geometry.usd b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3f726075c5a5d50b1286fe0e264d4d21152ec658
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3235ea785c23eedfbad310f27c2a9451e4ca519425ac8a41f17b1b6259f2d1
+size 5682384
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..73dcc3624a98ef5b1d3ac56e686f316777ba402b
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db44951a5e4d17bb459e3950a29a04957a5c6be3bd651cdba24c73b017e1f5dc
+size 2328756
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..56f311fb43738f50d34637eee4b4ff8e7858486a
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb2de4f18a495b3084deb6e09feced17553afbcc5b4f4afefd2cb0e4bb507b7
+size 750712
diff --git a/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..eeead254354d7c1fe5060d45ee35f7bbd11cb00a
--- /dev/null
+++ b/assets/scene_augmentation/small_086_cafe_asset_000074_obj_001_black_ceramic_mug_0070c44f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e808eb7b2c810f644391bc0496b036025ea76b0547e8d6b702db22616baf26
+size 2945264
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/geometry/geometry.usd b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e41f6ca07b9533cce7cf713e147ad36ec4bd3cd1
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f6706346859ea0999166f6f3ae417d204156a1a7fe7c2a381580ddfe9cb59bb
+size 7103965
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebca5613a70980174e149cd7be8a20cc4e351b50
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:332b5ce53ff2a136ef946759993a65721c57c0c69a7adad84887ef9f57a1c383
+size 2500360
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd3479ea5ed0c7fd256955ad1e703ecefeacad42
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2711d431aec85fa67f2c8d65b75fb8f0008d1ab7355dce1fa1bb6ffe3259b332
+size 2490736
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bacdde3a284687f4b23540238646f63d11ac2d2a
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54caffdb68065797d892770b96da3fc9703f00292187e4689830738e4e9a8695
+size 1431276
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/geometry/geometry.usd b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..18dab05dbe5aca34e6f87cffb3e3ef72ae0c0e2a
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81371ab65840e87995b00b2b8afb993e2384e8207d27d1f604b51bf7edb3ac3
+size 6346895
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b84bb45ba0e545fbae80e69ca7300e1a0f6dab44
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a4e5660c47337eac5904ce64f8ac1cf28d48a4b39a5419fef2c00a21370beae
+size 1442852
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cfeaaf4e6fcaf5d7ebb097e1798d140afbd45b0
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eebc6bd27ccd4277126c4985a1c08bee74026965c177c88d022ab094ace7cfe
+size 650008
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..96ea66c08ae490f7bbc5d634e7153b2d557c8f87
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_004_amber_glass_reagent_bottle_ffa3cd5b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2848972382292ec3f21916c917459255520c7066f8e2bbd76003ae3652fdb3
+size 1096916
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/geometry/geometry.usd b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c0bc25e61054cab26555b9eefbc9c46f06a75f87
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875290fcc18629bf990d386cd7e4160377e3cfcfc1077f40e9cc30617ea4eecc
+size 7168562
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc9a4f6d6de728e503f51efc85020dcdba0bb3dd
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08dbfb6e68e922250888c02fb16f7e6287fcbf01817926183a800f2ce6756caa
+size 2166824
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c170235fa584f0487c4b646f820a1b3271d5a8ba
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d038e126b83292cc26885ca94465d0db6bfd56ec041ec51c0ceac99e20f31fb
+size 1177860
diff --git a/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..385448f8d797b7ab08e1888e356dc31824327112
--- /dev/null
+++ b/assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b027cee679305068d5612a2bd74d1671102b688c05e3a7027ba58e67187ec6d0
+size 1553496
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/geometry/geometry.usd b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..580c6da4d79d4f5db32783428eb78be890a88f7f
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf51c23688efe01df14483543ac3080764e8aa0988ba20be531a7ca1b7a7565f
+size 5954162
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58bc611ba55921b708fb55990708d7e0fa8c5ef
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ff5dafb72b36a2cd16e3b1d1f4de25d7a709199abcdbd66f31b482bd544bb7
+size 1530836
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1cc6f0700566746076d9ca5be55b9993f34d8c9
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb5a02bbb72e6c1c5675fbd3a410ec74efd0fa7480819542d5d421d43039217
+size 2445216
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..177d10699596b0fec19162056250ca5893b6c5e3
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b989e24d0a55c5c44bff44627da49aaa3660901851f8742bbbd658c0371b84
+size 1093416
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/geometry/geometry.usd b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..955f67a3cbaed7b14eabed8e18a809c3ea012153
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8375a0adae8040015ef50902667541969d74fbcd6bf9fba2c69058dbbea9016b
+size 6989505
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b57e4e945ed85c99df6cff17ad03d0c4e66dfd2
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0b0c99a783ffd57c3fc8acd255e60a6db5130b22ad21c33eb779f16cc5dfb56
+size 1866792
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3676aca03d8be275f45f460dc64134b1311fb324
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db005b53e83a89fffb74c74ceecdc6abac652563f64a5fa5ffcbe7371fad3ea
+size 1719640
diff --git a/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aaa28210ee127a20ced322ec5993e10b4476346
--- /dev/null
+++ b/assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c9437fffc0fbf787d771dce1a678b065fb7270171afb23e64dcd6f84113791
+size 1331784
diff --git a/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/geometry/geometry.usd b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f27fcf7a94ecd38570eb2ee96e9a31938de74edf
--- /dev/null
+++ b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5343830c1f2a3d11830e63e2926e686bf2213de8d485326ab5e06d758526dbf0
+size 6703303
diff --git a/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4f89c8d3c4afde19d7b5446492cce80dca6cf7b
--- /dev/null
+++ b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4b1f0765ead4ee251c8defec7fa6c914ee40c1d056fc6528e2723e4321b41d
+size 1491376
diff --git a/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..06d3c165a5ad2f5058052ae434fc33f72b6b118a
--- /dev/null
+++ b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff87e37a76b0c5313fc9444a7318bc196862ae065bcb94f058b14cb24e2b8892
+size 341576
diff --git a/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..54dacba7d9b6c0a9e1ebc6a204df468ef95993e7
--- /dev/null
+++ b/assets/scene_augmentation/small_090_retail_store_asset_000052_obj_003_small_black_cube_box_d8733f20/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b6cc28e06c44497ef76cec9600bc5408c50261e81ddd4186d9a1e85999677d
+size 1364404
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f09c806605bafd30e4b3814d312d9501d7424e4c
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c091abf91a857e4068fb2d2493b20b0d8107e1dd619902b6d919b0a152fae58
+size 6575169
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3167927525facd8ee59625e1f4f2bf25f4066996
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ce081171e2bf49128bcc29ebe6ab2f01962a0005aff02f488e20a084380669
+size 1733748
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..86544969e99dfd08a0e418de476d9f31bcbda36f
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85bce6df2656a879621ee8fc4ca4b2b8205ba02e901116fc4757e76dca7df639
+size 2599680
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fb6b88b5841b9be638cfbf516e651aacaf81504
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d3cab0b0da73cb7368d795405865fcd8de44fa0aaaf67169504dc1a6341c3dd
+size 1219696
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9106c67870177b4ca0dd9e956d3e007bce106816
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d0d01224043780bd799587762fa156076c2fe961329ac1c2378a67a6cc9535f
+size 6545439
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ba9a80eccf0305666155f7c6194c6a55b83d01f
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d0fe9ef1bd3807452d1703e94777d53538d3017ff6232cd87621c907b5308b
+size 1171844
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d3b2eb5e0fe6d3254637592d19012e976818d6
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05ec01cd9abf3e5c79de5f709f336809bda8d5c281874e61f66310de82cd79e3
+size 936424
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..478b75bc265c685500f6be6fc371b3f747472ecc
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9716a45792ad1d2de5aab893d62f489134aa8cf29e4adfc75103c353928a194
+size 1562368
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0368aa486b869b81faaf81c091f6b3cb2c6bd035
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cafe2f66aa5bbd380db48297f659a03717c8bd4588b5bcbd62a8473c682e4aa7
+size 6496264
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a5d8c63a55e1aa699c44273060d58361458bae3
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39979d80217203ca9a5e5c9817479f534c97178a23739ddb52017f04f8b2f8ed
+size 2822408
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6c6c6162bbeaa440af9b20a5bd41412f4366cd4
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01363b4d42a79c80c4494c317153f173238f22f9073a42fc7d01d2c81c4a2a50
+size 2540408
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..43d63a2ba9564fcad88ef6e875f6c455c57f4f3a
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044c0c1de2ece1ab02cac8f97e718c787668499835f7f2c4192546ef77ded5a3
+size 2133256
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cea9a8d3b12878c21f2f383748fd265696620df6
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f4c0297c07908858be30c020283225802698539122d9dc700ad6573b834e8db
+size 6792833
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b7a01cd2d0ffac2187d26c4ae08f7a4da5664f3
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1cc91b8153e5ddacaa73a634392d8cf8d25e19925d2371547b82dd64962ea4
+size 1593196
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ec3854c887d58bc7f9d7611a52532bce644a699
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cdedbeafeb9ee2574b8a32b81b174b0cb1d9712d1eb14884590d893b5f1529
+size 971756
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0d34cc5f5df608b6cce70cef20c46e777ba51ee
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e599483acf2a365470c4607d3dbc60bd32e7d3ed53d02debae50f75ae1ab942e
+size 2201720
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5d1a3fc15e1e153e0a0e489e8a684929d1bae1d5
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa2253f4bf1b99357cf0887220faddf41b31d310f9344b0ef8fc8dc8942a691
+size 6827447
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a642cd8bcefca192280dfc7d9c1e3598efa2b44
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af4b52b46411ea1f6a2d92be1a80c5cd91e8ec1ebc6e76010359a437fbba0684
+size 1313852
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f51c459f2f4c43b12855830a70fe148367cdc3e7
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b707c5da559da0dd1f25407415cd77cbdcf93f10125bf7c67a6f37a8c8fdf8
+size 158284
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..519184b5439a136e6afbe71f866f781d864631cd
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfd96907c80574ca647dece78cc425ec96f7cd732ad7b3b4766ba5f553a24548
+size 1198384
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..144d795c6330d09b16546169b61ae064d10c6d21
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7671e91f76c0a38937a75c81ed5cb81a8e22f0e0f3cf0e8bbe2ea9ae56bafe14
+size 6824934
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b396ba028d57672abb695d91c6f3d13eec3f7f3
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0440507270cd7de9f6a71c4149508d0b5bf60c190ee5760fbd7fd1a154d488a8
+size 1510480
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c88b5224f5fdf22359ccc8c2fbbfaa662e8562f
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd5c20c81a3565f6df244ee570633e19e286980e7ca42bc5cbae34353bc1baf
+size 547860
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc6d9019bb6fbe3469d111a4156fce47d5cd80bf
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000045_smartphone_001_smartphone_e9fc85d0/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c2402cd20100b7bd4e7163c4cb0f8a073c10702bce9825c09cf5449dd4a3963
+size 1302444
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..46ae10bf952d6938515e93933793c922404ac3ba
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da28774cf15b6d67cdbc24a7213bec3f7edbce48480926358a03fe3987e88fbd
+size 6747096
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd42ec39bc21b441a208a11ae494af59df719ded
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9162bb7789f60cf6d8029484966d44da3105b17de75fa0f00299ba96a53e0fd6
+size 795644
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0c7615c8bc9b0c4c9f27725dbd2e22a2243cdc9
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99acb76c0beafabc013205c797399acb0132afb52a9a162adf3c7194d1aa2137
+size 40420
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..447151d9b58471a07fcd7d2c84c1840cd8f616fc
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_eyeglasses_001_eyeglasses_687daa2b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e299e9eaacbaf0161a1bedd1a9a220d140e1ba455c271d4900c411add16d4a
+size 619744
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a8b0466aa3dea2a4cd0e5468c59277eb27497e16
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbd6b4e788621e291a703c9f4c786d7514cf355812ab577bef261d8a0f3f168
+size 6505984
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b305055109ca5f39c3ec873ab8ca4fd9cd2dad18
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2227d05456f305d79b08ca02b2d8a015ae0f521044a96f11fdbbe450d0e2c89
+size 3012204
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f249ab7f9d208647741714bb4244a5ca8e542783
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a674600fe4d143b34a8e03e4a8681a582d98b64004f0641d07e6178b2c453c4
+size 2411180
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d1be4d26d6efcf05106b82253fb97893f7a7d65
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae77bb5528139e354e3ceaef6b86f845ff75e60f61f5a3eacff3b992ee6342a5
+size 1611204
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e17838794577ce134e25f4809c5938f69fc06e7e
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66f1e5e28c56453b365ab0c49c8061cece7068806f58ce1ada00f924b42bd9d
+size 7221800
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f92b2f2491c262245f1490d389953aa01e3e2666
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bf8bf1265d2137e273cad2a18209b7fe4f0238ae1549164eeb1f0d70547070
+size 1476092
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f48cca9b5fbb75199df8ecc32efdc95f1702aaad
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d89dc747abc91dfcf889569f047631670064618e3c5d4bd7fcbae93916406e
+size 173048
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1613838367fdf090a1e88f7e2762c3e473aa2d6f
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000046_remote_control_001_remote_control_d40d75b5/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b68fbf9483deb5fb6557b3e4a43ca6cc7c773da55e86bf5f756dd762dd6845b0
+size 1034336
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..aab57ec6b5ed43d68f71337824b2e4bf6063fa2f
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f5dae5670cbb0319741ad6cb4652c76995e45eb49a0427c7c5ea7157d5464b
+size 6342463
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..556b0607794e2dc12971724040de811a51e244a7
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462b1679c005250f8fbc42438a443b68dbfccacb91b86335cf2016e6fea4adbb
+size 4367924
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ea288e4d16b7f00bfe89ecf82d4677674e33635
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f8224c1d91f73dd6346264834011a64278daf7a1fba30ce85c6285a208f5d0
+size 5753192
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b6bc9cfd20d82569bd9d7c0ad860be93c1090f1
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a05b0479e5ba9b7bde8dd8d40a5651c4dddf41d2fd7937ceff5601dd3a74ca9
+size 2053884
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/geometry/geometry.usd b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e93f22cafdac18a803b49ad7459d9fc059ea43e4
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:771e0ad7ebbbe74a923627abfb3410418ffb756e76b78c03b1a0ca2b843b8e93
+size 6975410
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb6e4da6a9c1b3935c148ea3b2e661c3613ac697
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08fbcd358935f05d00d54f1e5cb665c62ff3aa1c55d2e3408da5ecce08511b4
+size 3404868
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b2c20a7091bb3d4c1d99cd835c0e4ac87c3889
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e5d2d51fb8542f573c2b95549bfe93fbb5825765d8982fd3625bb322417b062
+size 1816388
diff --git a/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f9fd38541038ecb9b84d4ca7223bb7b2ea3d3fc
--- /dev/null
+++ b/assets/scene_augmentation/small_092_bedroom_asset_000047_small_wooden_jewelry_box_001_small_wooden_jewelry_box_5a988fc9/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f06e27ae8c7f5156450c95faa7517feccfa5208f1ebe3db6564f1835c81b48
+size 1406668
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/geometry/geometry.usd b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b70fea51b9bdca81bdbabfd644207936db590c1e
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc138ba02dfb7b78be6c59eed2d0aacfafd17bd969b3abc0b0eaf6c6666c40e
+size 6830985
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ce9377f8b2cae16dee8adcc9c6eb00c015b75ef
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d757b494f8d7bbef56aac492e73383f70c7071a14b301fabb0275cd82d20b9
+size 1679524
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..95963f44a9bbf8618c47ed1d4e52dac887468718
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478e01358d962ecc37dee463e614f91489de70e0d4d9927b1f6aca7c1e81c6f6
+size 359448
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ccced98241172a2bc6125a2640e88fc1891cf44
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a247f58db1add50acc0b267e002b4c3034bedeee43287030c147233e754a214
+size 1323112
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/geometry/geometry.usd b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..111a703a1dadd4a7df03b98eae48ba303109374b
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2683e1e6faa9ed33c6a62f172619173c0760877818417c34f91347f5e12a940
+size 6819034
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12599a70c4695ffb96094e60cdea6f872084c89a
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cdc78854e18ad61ed8209a51b0b5e9af7a69742265ed37d593bdb571aefae3
+size 931716
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..06e5aebf513eb8a88c3c8924e5b095f7811c8787
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489f45f37a299dc22b78bf27593ec022ae97260631f0c5b0d7ac671a9fe54a86
+size 61108
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..44314a100e62f789688ff03afa19a96a29896465
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_black_tv_remote_control_27503b8e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b921299b9e00baeeecac8143910f4073a120cf2b156dacbc3301ce77c0bb3c87
+size 748836
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/geometry/geometry.usd b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ece73f4f953d46239285b2d4bc55719fbf6be10c
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3407fbdce64e82ddc60431095aa7166becaec62f5b356453a6b3f122a2ac64
+size 6799593
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..63cb284b4242b9ff5b9fc11053336c40598e3ac5
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bece7621b4fb0cf15d2eb433ae0561255aa8963e08d42f9c146cc334c9ca49f
+size 4299700
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ba571a22ff6f84158b69b366c5ccbf0eb45167c
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b70588d16041b34810a2d57cf557fc920251e23dd4702c6730694de570c7bd8
+size 4957656
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f5bd32f845008d1265a875bd30a160d7aa6fd54
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_002_gray_square_coaster_fa9cbb7a/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447cb3798efdab653a97f990e51cf952894a318e440ab6798e192190127113e8
+size 770672
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/geometry/geometry.usd b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2d1edab73729fc340611d8d3092baea8e0fdc4a5
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658a6bb459b1be71e36c464b5827ffb310424c93f6904386eae72bad11497f00
+size 5677630
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..06e29838d624aff7d1f2ff187860dfa9be6e0938
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b248b38129bdf4430916e48b6e514bbafbc0f8a74c60507f8fe4de5d4540f82
+size 1972336
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..71314ed3f4998985e888ce012e70a0410e93a186
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a562f7a08e2e48cf9c5f2bd031eac285fe855186e8af1769ce1e11c20cd0dfe7
+size 3001168
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..55410b0b945e675ec96c734168fdf3736e3b9bc5
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_003_small_glass_jar_candle_cream_7191024e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a54e5adf30e53285e9d28c04c1adc558d4940b7102e0660082e4cde2ba105938
+size 1345740
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/geometry/geometry.usd b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b0fbbc4117b6ebe9c5c9a49bc2816e65faa80b5f
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a6531afeee5fa8328d7c1d2c43459535436dfd5a12ae3f383f4a28e5c309e5
+size 6022271
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d86f2ca064f9986801d934a9b0e3db14cefa0df
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7df141c761a40d917ef3cecda4f9074925772ebb1004af7dac29894a77c9be8
+size 1759940
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0415c768e8249c39a3e0b7a8560305d2b87984c
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6922098ed81f0124ecc3dcd5d8ed68370f7c9f21bcfddf002c6fd5ebfdeec27
+size 2515516
diff --git a/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..450431ae9d51185db542eb5b186b9e971c4baf75
--- /dev/null
+++ b/assets/scene_augmentation/small_093_living_room_asset_000051_obj_004_white_cylindrical_candle_21d26c9b/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb641d034a3db786af044751506638ccab78b204a4867874abff1c5a193bd76
+size 1058380
diff --git a/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/geometry/geometry.usd b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ed82299df08bf70f768b6443ee0e4016fbfffc56
--- /dev/null
+++ b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5f96572ca4aa56af2d567756f0a30b08f84c8e13eb867ec22357363a69c2da
+size 6231943
diff --git a/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77cceb46707d513fec6acf65705d79b1e3cad969
--- /dev/null
+++ b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f68ea6f78e5f8bf5b378e8458587df3b2e33ca8304d83ee3081d394c75fa637
+size 6210440
diff --git a/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5a9901b55fa3e9d98d6daa9794c933528836ef8
--- /dev/null
+++ b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b165e04af483d1e71321b20e9a183a76bef203d4b79fee454d5d1a81363936
+size 6969564
diff --git a/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..53328a8fa9249240b0313f174b43d3b20adfa207
--- /dev/null
+++ b/assets/scene_augmentation/small_094_hallway_asset_000025_obj_003_smooth_gray_oval_stone_170d7eda/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c5f2388fba0ea923833ae9545f736d7325cb3106ee4a615de29b757e4e8188a
+size 1230556
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/geometry/geometry.usd b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..60dbd9cc37feef28509dcb8d8c045a0353cde444
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadfd9e18d9c9399d3165c864fc8fe3d03223ba73b121f693f7af5ab396b6510
+size 6445234
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0beab8ea88511d368c446b20ead153ca4394250
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6212c68a44a54f9e6e0ae87f80de54a898ced6bd36e1bf780818c3273d737f3
+size 2287240
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..338c67809c016e3b1541b975ff0e6698c29291ea
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308203774e2cb50b79aa0066b18982ccd70dfdcb0334e8c86143f2d8838cc4a9
+size 2830384
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..c32e25abf6159802e1aeaab7c2b6a50b7c8b2eaf
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_001_small_clear_glass_shaker_metal_cap_3860fc6e/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86d1df0c143cdb2cd9be809ce9dd7574c17477977e11af93ff9d8c116c41ffb
+size 502700
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/geometry/geometry.usd b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b190bde785feaf9c5781f29fac7d08cdf73c0b4b
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d2e158f9ec2e985c336c6c549f24256cfd9effc46752f324c4e0eeb86bd99e
+size 6406232
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f80be7d2f96def9a681ade0251bb6638f2f3df
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b073a4e2124aaa93d29965e35b0e974724d02451184efdc999a50c405680f55
+size 1989524
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae9914dd2db09caef60bd8d78f55143096a92c65
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b38c93cba8afa0a4e454c4643b14ed655c991f6eded2c8e435a3d49d86082aeb
+size 2738580
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab268b9ee4052f888d803d67fa098154b6508517
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c6100d0e5c1113629d3b7dc8e2385fa9964162930b43b1eca24a54c8f9a9df
+size 1015776
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/geometry/geometry.usd b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..661e71accd8de7976e4c4aa470c5d0dd45056fb0
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be145ecc061fbb28401f9528922871e126a40a8daeaf435fb24edf0f34570e43
+size 6525216
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b10abb831e62d1f7130c2f28b84673b7b77c4b8
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b29fbc16a059b082c8fcac76a1cf11cb1e94a90679b5cddfe31877f94680750
+size 2174936
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c3274fe848ab804a6761c555a750da35bc2925f
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b51d7193604253b6c8224729b2efa03599bbd8c8f7240b9f02eff9b8e63ea7
+size 3638172
diff --git a/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..16f7b146465378561c4e4235ccd7ec5da319f3e6
--- /dev/null
+++ b/assets/scene_augmentation/small_095_restaurant_asset_000022_obj_001_glass_salt_shaker_metal_cap_69c173a2/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1799729efb76355da05e0f502eced057f26af48eca4fea3e1cabb3692615613
+size 2292144
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/geometry/geometry.usd b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e9d4a22ac158768a348a571617ec9dad1d224016
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260d4103a2c76c31e851915d613d58f60264a62c77a68b36b784438a4c33feed
+size 6245967
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c4ae4057e7671f3300a6ed3dbec9661f6001f56
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6acfb84b768e06097e6ca5ee7ad490bdf45ef8bb2875870582d920fe55222fe
+size 1972292
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..b227f59c0b82eef22349ddbf0cb75c4c6cb124da
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa2ab84375bd35d23bc7a3577097b0e7887f1e5d8dfeca1b87e55595754559c
+size 2745416
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..a07648cf2155e33f8b41b20fbae4bc53676a32bb
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e54d44cfd01d7bf4cfe77301b4189ddd6940874803988d0910d202ec6898ed17
+size 1113816
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/geometry/geometry.usd b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..20fd9dcc1da479458abd9c31333508d09fdf8224
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec67f50614713b511249cd9e9b55d117d888a3b81b704ec7d212f0a5351ed201
+size 5993724
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a5fc7fc49924b367c0f07929d33e71dfd97ffb2
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82243761336fb1c95c78de045c4370a35f86c22573ea23f7b98ce21e5d9216f3
+size 2107776
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7494d101785da64932d533f934ef6bdfa63005f
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a00bafa338e4e53e35c0a183ea53e31e7febf30bdaa15c7964ba93e2dc44cbe4
+size 3332064
diff --git a/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b19c6340c165877dbd667e80f521d83786e0e80
--- /dev/null
+++ b/assets/scene_augmentation/small_096_cafe_asset_000032_obj_001_white_ceramic_coffee_mug_64c1d58f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0afe5433120ef2a9f63d3a85a27a35b508741dc644efb9d1d2fc4acd562da61
+size 1974464
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/geometry/geometry.usd b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..58ae32910e1c88d4052f62d08f7710a7570f9e4a
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eab357d3da5bb7e566a78c6792526e0bd5a920d19732b8bb29d6906b13cab44
+size 6878640
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..14d67fba529e401f569debcfc512c5f067cffcb6
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:296a3a55336f98a8bd9049283a6e26a8436ac15a21eeb63014c8d6fa03745060
+size 1966852
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..10980017ba0fab9022c095db82d964b1d7c4c1f7
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2b83bc91ad82441b95feb59313198a90ea741636c03428f46796a07da75e27
+size 881608
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d674e759f8cfebbe48f660f957fd117c3987d9f6
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3846cd3cffe1c2c9c6d8e4a6d8210a5dc840f1fcb51a0fc0ae9dab806929bc
+size 1199068
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/geometry/geometry.usd b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c062046905d127830d94dc34a56f4feeedce7123
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaea49aea803e58a1dea293121e9b47aea5b1297062b404ba1faeb506f2ab620
+size 6987622
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c64db2aa15628b0f83cbda943a9509c4af6dbcbc
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c96422faf11dee993d21120cc93489d0ed030c3af224a92733615eaaed4684
+size 2099876
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..77f1a30e4c65386ed3ea1d3a8af09d4a0d853206
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358a4b90936e0e7cacdfd493ec365f105f533526f996c74aff3003b95fc8312a
+size 1829928
diff --git a/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ab5cfb2df9758efd44d1291cde4591aca602762
--- /dev/null
+++ b/assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b3624557dd914543768dd08994bdb067a614fc03890a1da8fd37326347f098
+size 1517916
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/geometry/geometry.usd b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..668615c245c2e26fcc5f12011e55df2190821321
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1f0b0f94cef40bcb32e680443aa6b63c5cf08b216d384185d6bf518bc28cdc9
+size 6097815
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dacd698c850b337c5c6b112dd84e4ffa269a04d
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3eed2f92ba6a03efdd68dcaa7f0923aac2db187b6d7f0b0a903d6e75bf3f17
+size 710380
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..57e5987c239f6e8afa32ecafa4b7c57ff7c282af
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc753e462141e46a46ef49c538047df1b7c96ba47909030c56233cbc924c9d4
+size 17504
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6908187f88ab8615b42aee159a911405a7081c5
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b31167d7411ace89c5dff984a57303486f6ab5dd6d1b33978c4dfce3b6ca753
+size 1448988
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/geometry/geometry.usd b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9f16f840dca6e6e940822bea5b09ff6cfa73c891
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a61f0f0848eceba697a81ed6e8c40384ede57e5ff84b5fe62cecc233d5a8f8b
+size 6826258
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d50816bf21ec4af3eaf37ab12608e40903645ebd
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db0752b480792caa64c190b7fc2986dd97b46fb7032b9ade155f7052be9e4e0
+size 1084248
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e6aad698edc71b586cd114307fc96e686e148ce
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a68f87f8e5f5304ef6edaaa4de947898d3564c1fe42551df33ab9e36fec5bb59
+size 42988
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..35c08037a4ac12a9a351408b9bdccc4b10530bf1
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3860697662f4b1a615d1c531e1b0311fd72af3de49131297dd4c26068cc460
+size 1708416
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/geometry/geometry.usd b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f070b81f382e97afc156e13eaa89ff910eaaccbb
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f8c34b7f1cb0331aaa088419a08a2aef580e3ef7f6c8f2a675351066c53d9b
+size 7101942
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..deb40947745c68bbed63c5dda884d0916096627c
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430723dc451cf1ee10c09fa703548abce56134a86228f35e604a78e73b083f23
+size 2527460
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0b9af434d9e2720cb3002ad76f150b66c806b72
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c61d2c66ca8d6c461ad307f7d56c5253dd3fe53d43e6768080d1038701c57daf
+size 3448360
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..051bd1b557cea44c4119dfee935df6a7de464678
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2853c3d57577a528f43aee872e81c0815d536f8ea169e1dcc86acd3cbac740
+size 1410064
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/geometry/geometry.usd b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3683acc83d4f291fed5ca3bd41bda097849b31c0
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3666164e0dbd9095e67a83bc7c59a349c8fd7f13c9fc9232f2cee3b620d7e62
+size 5915601
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8dd4237025a92fdf0189c3b370c766ba372f105
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86832b2611a8be751616794b6d2833dc4894a239439f4493c9b60a559a3be4d9
+size 2174636
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6092272d5a85c44befefce516995a199de7d82d1
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03e597fc96a4772cd7b39956c679729ae6e4299bc9c77ab4357e512465d3d389
+size 3003368
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..aba6a9612812c01e48610e2b7a5a78a4d3ed23e4
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50640640868488d7bac9545aeefad2341ce3f9979857de6830b81be8ef6e8486
+size 1815368
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/geometry/geometry.usd b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f653d390f58ec8b06c33c5992fa7cd65c5695f44
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172c7b5f699323373331522b7089bf861b369f482f9ba496bfe18f765aaeb9e3
+size 6777524
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f995c23c6dc1cc2db62fb7a4d57edb12d6d9915
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10da8a52139fe9d967aa82686a54665679e214b6df2baf2efee03c47ac0e9248
+size 2292140
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e2d1a1b24a2a43ecbc8bfdab0497820ea4937f3
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75daebc18fe67d51c29a011991fc98a86564f9fbf1e79344c664f115eadab30d
+size 1644732
diff --git a/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b73c0ac5b2856eeeee71283eec7d02894a964ce
--- /dev/null
+++ b/assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87eff94053385ac854cb5e89ee994bc9a612dc51c526ab1391879d4ad9851278
+size 1501572
diff --git a/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/geometry/geometry.usd b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/geometry/geometry.usd
new file mode 100644
index 0000000000000000000000000000000000000000..83be16b1a7b5d1e8506b636000c37d6871360d31
--- /dev/null
+++ b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/geometry/geometry.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee97c14cd4185a1f2f7d219840d1056ca13fe488636f1a25a737a5072b187fd9
+size 6656662
diff --git a/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture0.png b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dff9e0ba97275a7363b7d1b3990ad83945e4f51d
--- /dev/null
+++ b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a97358c9f38facd34055e9d0b6de2360f8febebad1c76630c5aaafbe72e95e
+size 1247384
diff --git a/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture1.png b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ea4a479468ebc4f7c096adb2deb25cafc420ff4
--- /dev/null
+++ b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b2aa444e3c3bd6a32ed7e395019f8f8c18081a16d800c11a29e822168177a4
+size 570864
diff --git a/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture2.png b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..344f64e7d3fa1d9b7b0959a578fbcc1630fdf80a
--- /dev/null
+++ b/assets/scene_augmentation/small_100_retail_store_asset_000001_obj_003_metal_countertop_display_stand_59dc5340/textures/base_basic_pbr_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e75e2b7439e081128bd67f44205fa396f7765c344f2f5ff560846463199162d4
+size 1279740
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0001/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0001/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..6604420f6345172cd33cf0e7f6a76932eb96de40
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0001/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5264894947175197322
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984303192, -0.000487975432, 0.000151854517, 0.176485029)
+            double3 xformOp:translate = (2.61394930302, 8.86876878731, 0.740427500535)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977594989, -0.000482419101, 0.000168676102, 0.210494122)
+            double3 xformOp:translate = (3.45987417564, 8.23515049057, 0.740962956971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.420231192, -0.000155620587, 0.000486787478, 0.907416929)
+            double3 xformOp:translate = (1.84253580941, 8.20980223085, 0.746557053118)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.826972967, -0.000454989489, -0.000232732425, -0.562241452)
+            double3 xformOp:translate = (3.18551690227, 8.84441558701, 0.746069588776)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.460290041, -0.000177179811, 0.00047936117, 0.887768448)
+            double3 xformOp:translate = (3.43637001191, 8.83626298175, 0.745643484254)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.106187297, -0.000116841633, -0.000497521707, -0.994346015)
+            double3 xformOp:translate = (3.29618902162, 8.40505453422, 0.753879877482)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.82630446, -0.00045471269, -0.000233272772, -0.56322347)
+            double3 xformOp:translate = (1.97137363183, 8.53739379051, 0.745214671399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.865700566, -0.000470721442, -0.000199000352, -0.500561953)
+            double3 xformOp:translate = (3.09683646169, 8.29315102769, 0.752069433383)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0955966706, 1.45818024e-05, 0.000510849476, 0.99542002)
+            double3 xformOp:translate = (2.02323547302, 8.33218614084, 0.746986822785)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992036148, -0.000495098204, 0.000126718526, 0.125952448)
+            double3 xformOp:translate = (3.50857887751, 8.71908831269, 0.767065210181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.132721147, -4.51491168e-06, 0.000511037603, 0.991153286)
+            double3 xformOp:translate = (2.15896878972, 8.21121315722, 0.841409121998)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.828772799, -0.000455733925, -0.000231271281, -0.559585012)
+            double3 xformOp:translate = (2.24364642193, 8.31486924076, 0.744075629168)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.14384762, -0.000135639103, -0.000492728982, -0.989599718)
+            double3 xformOp:translate = (1.79591655986, 8.82125001788, 0.753957634421)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.836934426, -0.00045909474, -0.000224525802, -0.547302938)
+            double3 xformOp:translate = (2.01616162174, 8.7630500392, 0.752189201323)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.587266036, 0, 0, 0.809393973)
+            double3 xformOp:translate = (4.84221604085, 8.57012101835, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.757248432, -0.000342636828, 0.000379183096, 0.65312675)
+            double3 xformOp:translate = (2.68806024355, 8.22380891984, 0.81903209513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.518630451, 0, 0, 0.854998512)
+            double3 xformOp:translate = (4.95551058149, 8.42829767865, 0.927618012589)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.893435582, -0.000424618942, 0.000284391579, 0.44919105)
+            double3 xformOp:translate = (3.6060107185, 8.39537768778, 0.788305764904)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983325151, -0.000510180513, -2.9927592e-05, -0.1818554)
+            double3 xformOp:translate = (3.70379612197, 8.66675900249, 0.751613605685)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999995415, -0.000507302722, 6.18365984e-05, -0.00298482971)
+            double3 xformOp:translate = (3.24077328947, 8.59068267324, 0.767229374581)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00206429096, 6.23035655e-05, 0.000507245583, 0.999997739)
+            double3 xformOp:translate = (3.57273270797, 8.92152145658, 0.78783234911)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886457023, -0.000420217195, 0.000290856193, 0.462810637)
+            double3 xformOp:translate = (3.25705056748, 8.21670638794, 0.775077025157)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.965536754, -0.000506127102, -7.08178852e-05, -0.260266241)
+            double3 xformOp:translate = (1.8234825329, 8.41621363525, 0.75256538662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.111279626, 0, 0, 0.993789135)
+            double3 xformOp:translate = (4.97525264887, 8.20263079858, 0.95079202963)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.710389907, -0.000404836686, -0.000311908758, -0.703808154)
+            double3 xformOp:translate = (1.73749641869, 8.56422505198, 0.747828436394)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998655809, 0, 0, 0.0518321818)
+            double3 xformOp:translate = (4.91825062969, 8.07072463227, 0.998159830662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.513638705, -0.00020611921, 0.000467648038, 0.858006422)
+            double3 xformOp:translate = (1.70637145371, 8.71121509624, 0.745955441097)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977065094, -0.000508975179, -4.60877828e-05, -0.212940229)
+            double3 xformOp:translate = (2.46082920401, 8.33579984021, 0.799985919933)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.904012389, -0.000485521842, -0.000159525413, -0.427505952)
+            double3 xformOp:translate = (3.66649555997, 8.86168521068, 0.800975851627)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.282649118, -8.25685641e-05, 0.000504343383, 0.959223235)
+            double3 xformOp:translate = (3.40314208005, 8.61327998012, 0.822497556306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0001/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0001/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db2fce32bf70aab7089ba4f27b07dd82a5f6648
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0001/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5264894947175197322,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 5,
+    "office_supply": 3,
+    "office_supplies": 2,
+    "book": 2,
+    "electronics": 7,
+    "small_prop": 2,
+    "drinkware/container": 1,
+    "paper goods": 2,
+    "small prop": 2,
+    "small object": 3,
+    "writing_instrument": 1
+  },
+  "failed_sampling_attempt_count": 98,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.6139493030217427,
+        8.868768787309223,
+        0.7404275005350867
+      ],
+      "rotation_wxyz": [
+        0.9843031917687469,
+        -0.0004879754317822995,
+        0.00015185451661768552,
+        0.1764850290932395
+      ],
+      "yaw_degrees_local": 20.271470694610883,
+      "yaw_radians": 0.35482838427513785,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6139493030217427,
+        8.868768787309223,
+        0.7629245122488697
+      ],
+      "z_min": 0.7404275035300212,
+      "z_max": 0.7854215269575873
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.4598741756370655,
+        8.23515049056561,
+        0.74096295697067
+      ],
+      "rotation_wxyz": [
+        0.9775949893588151,
+        -0.0004824191007467091,
+        0.0001686761022642185,
+        0.21049412248498114
+      ],
+      "yaw_degrees_local": 24.2439140988661,
+      "yaw_radians": 0.42416058232257925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4598741756370655,
+        8.23515049056561,
+        0.7634599686844531
+      ],
+      "z_min": 0.7409629599656046,
+      "z_max": 0.7859569833931707
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.8425358094124429,
+        8.209802230847714,
+        0.7465570531178135
+      ],
+      "rotation_wxyz": [
+        0.42023119226706657,
+        -0.00015562058709877685,
+        0.0004867874783838884,
+        0.9074169294574483
+      ],
+      "yaw_degrees_local": 130.24291368681054,
+      "yaw_radians": 2.2741926215938015,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8425358094124429,
+        8.209802230847714,
+        0.7518924938128143
+      ],
+      "z_min": 0.7411935903710034,
+      "z_max": 0.751864471761005
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.185516902272629,
+        8.844415587012758,
+        0.7460695887756151
+      ],
+      "rotation_wxyz": [
+        0.826972967107401,
+        -0.0004549894886610009,
+        -0.00023273242457447457,
+        -0.5622414521304574
+      ],
+      "yaw_degrees_local": -68.4806231203563,
+      "yaw_radians": -1.1941874371205758,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.185516902272629,
+        8.844415587012758,
+        0.7519006398004013
+      ],
+      "z_min": 0.7403797880462905,
+      "z_max": 0.7520418900958629
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.4363700119146485,
+        8.836262981751585,
+        0.7456434842537952
+      ],
+      "rotation_wxyz": [
+        0.4602900410971672,
+        -0.00017717981052504784,
+        0.0004793611696650249,
+        0.8877684477874578
+      ],
+      "yaw_degrees_local": 125.12963200784037,
+      "yaw_radians": 2.184949020495577,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4363700119146485,
+        8.836262981751585,
+        0.7509444748849087
+      ],
+      "z_min": 0.7403562731005275,
+      "z_max": 0.7509582543627545
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.2961890216216494,
+        8.405054534215296,
+        0.7538798774820474
+      ],
+      "rotation_wxyz": [
+        0.10618729683952224,
+        -0.00011684163319250792,
+        -0.0004975217070573103,
+        -0.9943460146297662
+      ],
+      "yaw_degrees_local": -167.86755659073722,
+      "yaw_radians": -2.9288170426939817,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2961890216216494,
+        8.405054534215296,
+        0.7671075270722145
+      ],
+      "z_min": 0.7408113837363367,
+      "z_max": 0.7672666829166708
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        1.9713736318286164,
+        8.537393790508018,
+        0.7452146713994361
+      ],
+      "rotation_wxyz": [
+        0.8263044604304931,
+        -0.00045471268964299453,
+        -0.00023327277191722645,
+        -0.5632234702965206
+      ],
+      "yaw_degrees_local": -68.61675390824779,
+      "yaw_radians": -1.1965633682538062,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9713736318286164,
+        8.537393790508018,
+        0.7496387008679898
+      ],
+      "z_min": 0.7408450120545838,
+      "z_max": 0.7496930709916911
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12027584687710438,
+        0.17582722148749907,
+        0.022221431277123893
+      ],
+      "bbox_min_m": [
+        -0.060292053851292125,
+        -0.0879992159381936,
+        -0.011119296335387484
+      ],
+      "bbox_max_m": [
+        0.05998379302581226,
+        0.08782800554930544,
+        0.011102134941736388
+      ],
+      "translation_world": [
+        3.0968364616924653,
+        8.29315102768536,
+        0.7520694333833264
+      ],
+      "rotation_wxyz": [
+        0.8657005660149933,
+        -0.00047072144221308,
+        -0.00019900035196237863,
+        -0.5005619530302959
+      ],
+      "yaw_degrees_local": -60.13309003724068,
+      "yaw_radians": -1.0484954692483988,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0968364616924653,
+        8.29315102768536,
+        0.7631801490218884
+      ],
+      "z_min": 0.740950137047939,
+      "z_max": 0.7631715683250628
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.0232354730173956,
+        8.332186140840404,
+        0.7469868227852597
+      ],
+      "rotation_wxyz": [
+        0.09559667056020259,
+        1.4581802408798282e-05,
+        0.0005108494761461769,
+        0.9954200195887102
+      ],
+      "yaw_degrees_local": 168.96996250121697,
+      "yaw_radians": 2.9501069077392774,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0232354730173956,
+        8.332186140840404,
+        0.7528040355518321
+      ],
+      "z_min": 0.74104657012295,
+      "z_max": 0.7526809956560947
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.5085788775098097,
+        8.719088312689696,
+        0.7670652101812999
+      ],
+      "rotation_wxyz": [
+        0.992036148344812,
+        -0.0004950982039257412,
+        0.0001267185255194273,
+        0.12595244815951037
+      ],
+      "yaw_degrees_local": 14.412815033276758,
+      "yaw_radians": 0.25257558819488624,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5085788775098097,
+        8.719088312689696,
+        0.793639694837374
+      ],
+      "z_min": 0.7404659776086342,
+      "z_max": 0.7936149469207822
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.158968789724049,
+        8.211213157224229,
+        0.8414091219977908
+      ],
+      "rotation_wxyz": [
+        0.13272114664362636,
+        -4.5149116820741175e-06,
+        0.0005110376031299611,
+        0.9911532858512779
+      ],
+      "yaw_degrees_local": 164.68755675377827,
+      "yaw_radians": 2.8753648656959827,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.158968789724049,
+        8.211213157224229,
+        0.9416260020604408
+      ],
+      "z_min": 0.7411521165195123,
+      "z_max": 0.9415858766448123
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.2436464219304293,
+        8.3148692407575,
+        0.7440756291676109
+      ],
+      "rotation_wxyz": [
+        0.8287727991597553,
+        -0.0004557339253172868,
+        -0.00023127128130230574,
+        -0.5595850124807561
+      ],
+      "yaw_degrees_local": -68.11292741979901,
+      "yaw_radians": -1.1877699347123847,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2436464219304293,
+        8.3148692407575,
+        0.7471876324114866
+      ],
+      "z_min": 0.7410362056507703,
+      "z_max": 0.7472602121385215
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        1.7959165598577234,
+        8.821250017878029,
+        0.7539576344208192
+      ],
+      "rotation_wxyz": [
+        0.14384761965367637,
+        -0.00013563910331360318,
+        -0.0004927289821926393,
+        -0.9895997176334255
+      ],
+      "yaw_degrees_local": -163.51760205760095,
+      "yaw_radians": -2.852896042767371,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7959165598577234,
+        8.821250017878029,
+        0.7673620718280565
+      ],
+      "z_min": 0.740579351248384,
+      "z_max": 0.7673882260628586
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        2.0161616217370897,
+        8.76305003920328,
+        0.752189201322808
+      ],
+      "rotation_wxyz": [
+        0.8369344259923901,
+        -0.00045909474038640155,
+        -0.00022452580161276594,
+        -0.5473029375117336
+      ],
+      "yaw_degrees_local": -66.42307869734526,
+      "yaw_radians": -1.1582765029017519,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0161616217370897,
+        8.76305003920328,
+        0.7637019557462584
+      ],
+      "z_min": 0.7406104733033568,
+      "z_max": 0.7636359821502576
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.842216040848005,
+        8.570121018352959,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        0.5872660357725376,
+        0.0,
+        0.0,
+        0.809393972814234
+      ],
+      "yaw_degrees_local": 18.073526229933606,
+      "yaw_radians": 1.8862388669527959,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.842216040848005,
+        8.570121018352959,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.6880602435464875,
+        8.223808919840344,
+        0.819032095130361
+      ],
+      "rotation_wxyz": [
+        0.7572484318399981,
+        -0.0003426368279437534,
+        0.00037918309611183274,
+        0.6531267497936737
+      ],
+      "yaw_degrees_local": 81.4968272014226,
+      "yaw_radians": 1.4234126426506162,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6880602435464875,
+        8.223808919840344,
+        0.8970256196008592
+      ],
+      "z_min": 0.7410722933646012,
+      "z_max": 0.8970593423055977
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        4.955510581486588,
+        8.428297678647057,
+        0.9276180125892436
+      ],
+      "rotation_wxyz": [
+        0.5186304510964626,
+        0.0,
+        0.0,
+        0.8549985118089269
+      ],
+      "yaw_degrees_local": 27.519140750579766,
+      "yaw_radians": 2.051095940212257,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.955510581486588,
+        8.428297678647057,
+        0.935157915232343
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9352798341825307
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.6060107184993937,
+        8.395377687778629,
+        0.7883057649041744
+      ],
+      "rotation_wxyz": [
+        0.8934355822117999,
+        -0.0004246189423962067,
+        0.0002843915786352323,
+        0.44919104984187525
+      ],
+      "yaw_degrees_local": 53.324885876442295,
+      "yaw_radians": 0.9317192980607341,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6060107184993937,
+        8.395377687778629,
+        0.8358292421044181
+      ],
+      "z_min": 0.7407819615473168,
+      "z_max": 0.8358289159478044
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12027584687710438,
+        0.17582722148749907,
+        0.022221431277123893
+      ],
+      "bbox_min_m": [
+        -0.060292053851292125,
+        -0.0879992159381936,
+        -0.011119296335387484
+      ],
+      "bbox_max_m": [
+        0.05998379302581226,
+        0.08782800554930544,
+        0.011102134941736388
+      ],
+      "translation_world": [
+        3.703796121966316,
+        8.666759002488378,
+        0.7516136056845525
+      ],
+      "rotation_wxyz": [
+        0.9833251509337115,
+        -0.0005101805126424922,
+        -2.9927591953854817e-05,
+        -0.18185539959368138
+      ],
+      "yaw_degrees_local": -21.014413728284296,
+      "yaw_radians": -0.365745898527046,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.703796121966316,
+        8.666759002488378,
+        0.7627243213231144
+      ],
+      "z_min": 0.740494309349165,
+      "z_max": 0.7627157406262889
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.2407732894656043,
+        8.590682673242943,
+        0.7672293745806423
+      ],
+      "rotation_wxyz": [
+        0.9999954147953828,
+        -0.000507302721594124,
+        6.183659841475173e-05,
+        -0.002984829709467114
+      ],
+      "yaw_degrees_local": -0.4007472616469556,
+      "yaw_radians": -0.005969730287844308,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2407732894656043,
+        8.590682673242943,
+        0.7938038592367164
+      ],
+      "z_min": 0.7406301420079766,
+      "z_max": 0.7937791113201246
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.572732707966231,
+        8.9215214565843,
+        0.7878323491098395
+      ],
+      "rotation_wxyz": [
+        0.002064290963148324,
+        6.230356552570202e-05,
+        0.0005072455834830867,
+        0.9999977387589452
+      ],
+      "yaw_degrees_local": 179.70473906209185,
+      "yaw_radians": 3.137464006032522,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.572732707966231,
+        8.9215214565843,
+        0.8352312745379399
+      ],
+      "z_min": 0.7402525459975398,
+      "z_max": 0.8350503968537407
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.2570505674797516,
+        8.216706387944864,
+        0.7750770251566086
+      ],
+      "rotation_wxyz": [
+        0.8864570225579379,
+        -0.00042021719517561224,
+        0.00029085619319356784,
+        0.4628106372782496
+      ],
+      "yaw_degrees_local": 55.07854145556317,
+      "yaw_radians": 0.9623263705129204,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2570505674797516,
+        8.216706387944864,
+        0.8090755813272874
+      ],
+      "z_min": 0.7410073823429828,
+      "z_max": 0.8090044946843404
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        1.8234825329021191,
+        8.416213635248173,
+        0.7525653866204209
+      ],
+      "rotation_wxyz": [
+        0.9655367537495618,
+        -0.0005061271019991647,
+        -7.081788518615691e-05,
+        -0.26026624056712017
+      ],
+      "yaw_degrees_local": -30.230435452003945,
+      "yaw_radians": -0.5265957546276979,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8234825329021191,
+        8.416213635248173,
+        0.7640781410438714
+      ],
+      "z_min": 0.7409866586009698,
+      "z_max": 0.7640121674478706
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        4.975252648871878,
+        8.20263079857913,
+        0.9507920296297073
+      ],
+      "rotation_wxyz": [
+        0.11127962555664428,
+        0.0,
+        0.0,
+        0.9937891350462497
+      ],
+      "yaw_degrees_local": 77.22182875103834,
+      "yaw_radians": 2.9185714929117363,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.975252648871878,
+        8.20263079857913,
+        0.9813944311351
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9814048319071174
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.7374964186876216,
+        8.564225051977408,
+        0.7478284363937301
+      ],
+      "rotation_wxyz": [
+        0.7103899074232992,
+        -0.00040483668642351037,
+        -0.00031190875839890255,
+        -0.7038081544364915
+      ],
+      "yaw_degrees_local": -89.5253990601118,
+      "yaw_radians": -1.5614882186859282,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7374964186876216,
+        8.564225051977408,
+        0.7548117172025707
+      ],
+      "z_min": 0.7408474327948482,
+      "z_max": 0.7548139944125295
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        4.9182506296908945,
+        8.070724632274324,
+        0.9981598306620916
+      ],
+      "rotation_wxyz": [
+        0.9986558090406827,
+        0.0,
+        0.0,
+        0.05183218179181304
+      ],
+      "yaw_degrees_local": -84.05780676126999,
+      "yaw_radians": 0.10371083680558417,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9182506296908945,
+        8.070724632274324,
+        1.07615335513259
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0761870778373284
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.7063714537109003,
+        8.711215096236431,
+        0.7459554410966608
+      ],
+      "rotation_wxyz": [
+        0.5136387049981552,
+        -0.00020611920977125548,
+        0.0004676480381692901,
+        0.8580064216239889
+      ],
+      "yaw_degrees_local": 118.12826568160858,
+      "yaw_radians": 2.062752112310069,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7063714537109003,
+        8.711215096236431,
+        0.7511913564147943
+      ],
+      "z_min": 0.7407022934275796,
+      "z_max": 0.7511741240638466
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.4608292040127333,
+        8.335799840207777,
+        0.799985919932939
+      ],
+      "rotation_wxyz": [
+        0.9770650939591495,
+        -0.0005089751786854678,
+        -4.6087782789029066e-05,
+        -0.2129402286717619
+      ],
+      "yaw_degrees_local": -24.648139766075474,
+      "yaw_radians": -0.4291663537152803,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4608292040127333,
+        8.335799840207777,
+        0.8591121979654591
+      ],
+      "z_min": 0.7409874890922329,
+      "z_max": 0.8592400451572731
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.6664955599744773,
+        8.861685210675514,
+        0.8009758516273332
+      ],
+      "rotation_wxyz": [
+        0.9040123893396373,
+        -0.00048552184173170294,
+        -0.00015952541315341528,
+        -0.42750595170198985
+      ],
+      "yaw_degrees_local": -50.67748826855521,
+      "yaw_radians": -0.8834640759846724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6664955599744773,
+        8.861685210675514,
+        0.8616027180825928
+      ],
+      "z_min": 0.7403013608252509,
+      "z_max": 0.8615550937357701
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.4031420800537395,
+        8.613279980122183,
+        0.8224975563056418
+      ],
+      "rotation_wxyz": [
+        0.2826491176383694,
+        -8.256856412243335e-05,
+        0.0005043433834790263,
+        0.9592232352890724
+      ],
+      "yaw_degrees_local": 147.10453287137898,
+      "yaw_radians": 2.5684833375439595,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4031420800537395,
+        8.613279980122183,
+        0.9044335653464607
+      ],
+      "z_min": 0.7405866796771146,
+      "z_max": 0.9044586977587523
+    }
+  ],
+  "variant_index": 1
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0002/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0002/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..0dc69cc00368b316fe15590ff6a4a3143fc150c1
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0002/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1946799672286650141
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99869831, -0.000503224707, 8.91331037e-05, 0.051004159)
+            double3 xformOp:translate = (3.57751863033, 8.45335487909, 0.740423047981)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996537792, -0.000500093286, 0.000105292552, 0.0831394481)
+            double3 xformOp:translate = (3.17938360619, 8.51265890999, 0.740717040467)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.432028264, -0.000276221743, -0.000429978331, -0.901859921)
+            double3 xformOp:translate = (3.5371581512, 8.75795823086, 0.755628604625)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.029674478, 0, 0, 0.999559616)
+            double3 xformOp:translate = (4.9221273534, 8.18673069461, 0.959557102411)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.341488239, -0.000232716418, -0.000454997676, -0.939885909)
+            double3 xformOp:translate = (1.95105386766, 8.43787462832, 0.788472348027)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.569459561, -0.000340857392, -0.000380783474, -0.822019189)
+            double3 xformOp:translate = (2.15735230409, 8.30646478372, 0.818590453474)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.140793524, -8.67914305e-06, 0.000510983844, 0.990038849)
+            double3 xformOp:translate = (2.36195617904, 8.21202489462, 0.752926089173)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.244512057, -6.25683568e-05, 0.00050721299, 0.969646117)
+            double3 xformOp:translate = (2.18745095914, 8.87259145161, 0.786490295152)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.781543245, -0.000356811759, 0.000365875915, 0.62385086)
+            double3 xformOp:translate = (3.22559425411, 8.40252396176, 0.777478457806)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.830793573, -0.000386049004, 0.000334882042, 0.556580432)
+            double3 xformOp:translate = (3.41078727144, 8.50162484561, 0.75072061015)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0635999897, 3.09697108e-05, 0.000510118313, 0.99797534)
+            double3 xformOp:translate = (3.28476207408, 8.86683987404, 0.787440740043)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990274815, -0.00051099775, -7.81763116e-06, -0.139124155)
+            double3 xformOp:translate = (1.71574974673, 8.67651649564, 0.788159369226)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.8807996, -0.000416671748, 0.000295912945, 0.473488969)
+            double3 xformOp:translate = (1.81607427266, 8.56506671916, 0.807705355024)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0585402955, -9.29286101e-05, -0.00050253765, -0.998284916)
+            double3 xformOp:translate = (3.64559078884, 8.57844888055, 0.745954710738)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.807992709, 0, 0, 0.589192483)
+            double3 xformOp:translate = (4.97347941739, 8.77467303247, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.184621964, -3.1363229e-05, 0.00051009427, 0.982809478)
+            double3 xformOp:translate = (2.54669989252, 8.21147498827, 0.788425752261)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.648224423, -0.000280486729, 0.000427208393, 0.761449168)
+            double3 xformOp:translate = (3.15261298461, 8.22253361594, 0.775084347353)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.284779769, -0.000205143742, -0.000468076769, -0.958592834)
+            double3 xformOp:translate = (2.01101893939, 8.76430195455, 0.746299652807)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.441505424, -0.000280736255, -0.000427044461, -0.897258435)
+            double3 xformOp:translate = (1.9615650904, 8.31016162231, 0.754522465596)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998854234, -0.000503503375, 8.75452334e-05, 0.0478535023)
+            double3 xformOp:translate = (2.76178084286, 8.32539446236, 0.740959880833)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998109996, -0.000502264577, 9.43933824e-05, 0.0614505836)
+            double3 xformOp:translate = (3.53091401384, 8.21972070897, 0.746659412221)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900982733, -0.000429417793, 0.00027709236, 0.433854646)
+            double3 xformOp:translate = (3.38848063313, 8.29110400056, 0.772747165067)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.786135445, -0.000359507768, 0.000363227175, 0.618054044)
+            double3 xformOp:translate = (1.75708397652, 8.25972468674, 0.75635946651)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.000368583374, 0, 0, 0.999999932)
+            double3 xformOp:translate = (4.96781204971, 8.41350679135, 0.932716584791)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.774066134, -0.000432648805, -0.000272019904, -0.63310454)
+            double3 xformOp:translate = (3.44393341124, 8.90498575733, 0.789151204235)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999998842, -0.000507024546, 6.40775013e-05, 0.00143365841)
+            double3 xformOp:translate = (2.84405804271, 8.185356019, 0.777747057587)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.214917112, -4.71177187e-05, 0.000508880867, 0.976632159)
+            double3 xformOp:translate = (3.74036195689, 8.28118692447, 0.808934100888)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908047888, -0.000487020965, -0.000154888332, -0.418866055)
+            double3 xformOp:translate = (1.70255247612, 8.39641711942, 0.870973283787)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.726947614, 0, 0, 0.686692921)
+            double3 xformOp:translate = (4.8269783481, 8.7366511869, 0.930221721346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.58152688, -0.000346438939, -0.000375712493, -0.813527029)
+            double3 xformOp:translate = (1.92233520471, 8.83117532091, 0.819262871492)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0002/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0002/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b6285cf8eaf95341526bd5170db2fda833e8a06
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0002/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1946799672286650141,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 6,
+    "small object": 7,
+    "office_supply": 2,
+    "clock": 2,
+    "electronics": 6,
+    "small electronic device": 2,
+    "drinkware/container": 1,
+    "office_supplies": 2,
+    "timepiece": 1
+  },
+  "failed_sampling_attempt_count": 123,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.577518630333268,
+        8.453354879091451,
+        0.7404230479808379
+      ],
+      "rotation_wxyz": [
+        0.9986983100957051,
+        -0.0005032247073194262,
+        8.913310374709535e-05,
+        0.05100415896931386
+      ],
+      "yaw_degrees_local": 5.788473476508358,
+      "yaw_radians": 0.10205249672049398,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.577518630333268,
+        8.453354879091451,
+        0.7492351153853437
+      ],
+      "z_min": 0.740726744210659,
+      "z_max": 0.7583508790196706
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.179383606187286,
+        8.512658909985952,
+        0.7407170404665526
+      ],
+      "rotation_wxyz": [
+        0.9965377920489451,
+        -0.0005000932861039392,
+        0.00010529255165526297,
+        0.08313944814826205
+      ],
+      "yaw_degrees_local": 9.479379550598736,
+      "yaw_radians": 0.16647093086502218,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.179383606187286,
+        8.512658909985952,
+        0.7907171343438681
+      ],
+      "z_min": 0.7407170404665526,
+      "z_max": 0.8407172282211837
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.537158151195993,
+        8.757958230863528,
+        0.7556286046250204
+      ],
+      "rotation_wxyz": [
+        0.43202826420119017,
+        -0.0002762217426482134,
+        -0.00042997833099901294,
+        -0.9018599213577962
+      ],
+      "yaw_degrees_local": -128.86600743324473,
+      "yaw_radians": -2.2481116669686814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.537158151195993,
+        8.757958230863528,
+        0.7707970815775518
+      ],
+      "z_min": 0.740422927509357,
+      "z_max": 0.7707598814144199
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        4.922127353404729,
+        8.186730694612903,
+        0.9595571024107423
+      ],
+      "rotation_wxyz": [
+        -0.02967447800490175,
+        0.0,
+        0.0,
+        0.9995596157084062
+      ],
+      "yaw_degrees_local": 93.4009439532926,
+      "yaw_radians": -3.0822349839290455,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.922127353404729,
+        8.186730694612903,
+        0.9987971772506335
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 0.9986801785761142
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.9510538676575626,
+        8.43787462831941,
+        0.7884723480268803
+      ],
+      "rotation_wxyz": [
+        0.3414882388067859,
+        -0.0002327164180706609,
+        -0.0004549976758189804,
+        -0.9398859088085232
+      ],
+      "yaw_degrees_local": -140.12356182217533,
+      "yaw_radians": -2.444593083805068,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9510538676575626,
+        8.43787462831941,
+        0.835995825227124
+      ],
+      "z_min": 0.7409485446700227,
+      "z_max": 0.8359954990705103
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.157352304087223,
+        8.306464783718159,
+        0.8185904534741673
+      ],
+      "rotation_wxyz": [
+        0.5694595612619783,
+        -0.00034085739246638813,
+        -0.0003807834742229858,
+        -0.8220191888925095
+      ],
+      "yaw_degrees_local": -110.63360423074508,
+      "yaw_radians": -1.9298960852545524,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.157352304087223,
+        8.306464783718159,
+        0.8962972873075997
+      ],
+      "z_min": 0.7410557021963214,
+      "z_max": 0.8964693698631864
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.361956179037066,
+        8.212024894622282,
+        0.7529260891730166
+      ],
+      "rotation_wxyz": [
+        0.14079352365515205,
+        -8.679143050200553e-06,
+        0.0005109838438896348,
+        0.9900388489937909
+      ],
+      "yaw_degrees_local": 163.75375418954377,
+      "yaw_radians": 2.8590669445188177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.361956179037066,
+        8.212024894622282,
+        0.7647973597195864
+      ],
+      "z_min": 0.7411255282935673,
+      "z_max": 0.7648680693867067
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        2.187450959143606,
+        8.872591451613765,
+        0.7864902951516645
+      ],
+      "rotation_wxyz": [
+        0.24451205675564264,
+        -6.256835677866979e-05,
+        0.0005072129897492074,
+        0.9696461173651495
+      ],
+      "yaw_degrees_local": 151.63528652274476,
+      "yaw_radians": 2.6475598781635923,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.187450959143606,
+        8.872591451613765,
+        0.8326887096525443
+      ],
+      "z_min": 0.7404776883140477,
+      "z_max": 0.8328745173158074
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.2255942541144553,
+        8.402523961757078,
+        0.7774784578057072
+      ],
+      "rotation_wxyz": [
+        0.7815432447212469,
+        -0.00035681175874797337,
+        0.0003658759148392944,
+        0.6238508599423176
+      ],
+      "yaw_degrees_local": 77.13708801803546,
+      "yaw_radians": 1.3473207999599404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2255942541144553,
+        8.402523961757078,
+        0.8140886708748859
+      ],
+      "z_min": 0.7408229070814225,
+      "z_max": 0.8140433332197798
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.410787271442617,
+        8.501624845614963,
+        0.7507206101504611
+      ],
+      "rotation_wxyz": [
+        0.8307935734272773,
+        -0.00038604900447383424,
+        0.0003348820424941805,
+        0.556580431898319
+      ],
+      "yaw_degrees_local": 67.58057988394705,
+      "yaw_radians": 1.18052818702282,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.410787271442617,
+        8.501624845614963,
+        0.7607579611312798
+      ],
+      "z_min": 0.740698917700959,
+      "z_max": 0.7607736196625964
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.2847620740804535,
+        8.866839874039592,
+        0.7874407400432517
+      ],
+      "rotation_wxyz": [
+        0.06359998965300552,
+        3.0969710809026304e-05,
+        0.000510118312994856,
+        0.997975340445004
+      ],
+      "yaw_degrees_local": 172.64834440246602,
+      "yaw_radians": 3.0143067496320226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2847620740804535,
+        8.866839874039592,
+        0.8345464907298842
+      ],
+      "z_min": 0.7403444917674371,
+      "z_max": 0.8345559931407021
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.7157497467250367,
+        8.676516495643831,
+        0.7881593692258726
+      ],
+      "rotation_wxyz": [
+        0.9902748145046235,
+        -0.0005109977503701701,
+        -7.817631158983133e-06,
+        -0.1391241552643447
+      ],
+      "yaw_degrees_local": -16.053048657192136,
+      "yaw_radians": -0.27915378431674975,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7157497467250367,
+        8.676516495643831,
+        0.835611894964853
+      ],
+      "z_min": 0.740736319652444,
+      "z_max": 0.8356413711304049
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        1.816074272657573,
+        8.56506671915555,
+        0.8077053550240272
+      ],
+      "rotation_wxyz": [
+        0.8807995999204056,
+        -0.00041667174777594964,
+        0.000295912944707811,
+        0.4734889688263471
+      ],
+      "yaw_degrees_local": 56.463322537182705,
+      "yaw_radians": 0.9864953672088008,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.816074272657573,
+        8.56506671915555,
+        0.8745566600563086
+      ],
+      "z_min": 0.7408366545297074,
+      "z_max": 0.87453926459427
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.645590788840987,
+        8.57844888054986,
+        0.7459547107375377
+      ],
+      "rotation_wxyz": [
+        0.05854029554533042,
+        -9.292861008407214e-05,
+        -0.0005025376500006294,
+        -0.9982849155514919
+      ],
+      "yaw_degrees_local": -173.34664841260562,
+      "yaw_radians": -3.0244451932436474,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.645590788840987,
+        8.57844888054986,
+        0.7512901514325385
+      ],
+      "z_min": 0.7405912479907276,
+      "z_max": 0.7512621293807292
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.973479417390421,
+        8.774673032468788,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        0.807992709350495,
+        0.0,
+        0.0,
+        0.5891924826713648
+      ],
+      "yaw_degrees_local": -17.800549518107886,
+      "yaw_radians": 1.2601181290396242,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.973479417390421,
+        8.774673032468788,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.546699892523342,
+        8.211474988270727,
+        0.7884257522610713
+      ],
+      "rotation_wxyz": [
+        0.1846219637231261,
+        -3.136322895161708e-05,
+        0.0005100942698267067,
+        0.9828094776360272
+      ],
+      "yaw_degrees_local": 158.66310104318558,
+      "yaw_radians": 2.7702183286319393,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.546699892523342,
+        8.211474988270727,
+        0.8357918789223262
+      ],
+      "z_min": 0.7411026973463215,
+      "z_max": 0.8358349506688315
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.1526129846072863,
+        8.222533615937355,
+        0.7750843473532372
+      ],
+      "rotation_wxyz": [
+        0.6482244230437826,
+        -0.0002804867293549294,
+        0.00042720839282028064,
+        0.7614491684871284
+      ],
+      "yaw_degrees_local": 99.1255481035937,
+      "yaw_radians": 1.7310920181271905,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1526129846072863,
+        8.222533615937355,
+        0.809082903523916
+      ],
+      "z_min": 0.7410147045396114,
+      "z_max": 0.809011816880969
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.0110189393906257,
+        8.764301954550225,
+        0.746299652807329
+      ],
+      "rotation_wxyz": [
+        0.2847797685823115,
+        -0.00020514374187444894,
+        -0.0004680767687143446,
+        -0.9585928344330502
+      ],
+      "yaw_degrees_local": -146.9673364743852,
+      "yaw_radians": -2.564039481783623,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0110189393906257,
+        8.764301954550225,
+        0.7521307038321152
+      ],
+      "z_min": 0.7406098520780043,
+      "z_max": 0.7522719541275767
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        1.9615650904005435,
+        8.310161622305504,
+        0.7545224655963488
+      ],
+      "rotation_wxyz": [
+        0.4415054243490588,
+        -0.00028073625511350537,
+        -0.0004270444605719145,
+        -0.8972584349509016
+      ],
+      "yaw_degrees_local": -127.65875777351867,
+      "yaw_radians": -2.2270411803742576,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9615650904005435,
+        8.310161622305504,
+        0.768067214968946
+      ],
+      "z_min": 0.741076725725479,
+      "z_max": 0.7681662244706735
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        2.7617808428580335,
+        8.325394462364873,
+        0.7409598808330113
+      ],
+      "rotation_wxyz": [
+        0.9988542341777665,
+        -0.0005035033747203396,
+        8.754523336848106e-05,
+        0.04785350233087892
+      ],
+      "yaw_degrees_local": 5.426992765726311,
+      "yaw_radians": 0.09574347110758086,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7617808428580335,
+        8.325394462364873,
+        0.9184598754685933
+      ],
+      "z_min": 0.7409598808330113,
+      "z_max": 1.0959598701041753
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.530914013844945,
+        8.21972070897317,
+        0.7466594122209403
+      ],
+      "rotation_wxyz": [
+        0.9981099962409559,
+        -0.0005022645772970947,
+        9.439338235746938e-05,
+        0.06145058359416296
+      ],
+      "yaw_degrees_local": 6.987448019443121,
+      "yaw_radians": 0.12297854041517718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.530914013844945,
+        8.21972070897317,
+        0.7524904632457265
+      ],
+      "z_min": 0.7409696114916157,
+      "z_max": 0.7526317135411881
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        3.388480633133094,
+        8.291104000564209,
+        0.7727471650667774
+      ],
+      "rotation_wxyz": [
+        0.9009827329731864,
+        -0.0004294177925037156,
+        0.000277092359551014,
+        0.433854645825479
+      ],
+      "yaw_degrees_local": 51.366167954446496,
+      "yaw_radians": 0.8975332125347396,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.388480633133094,
+        8.291104000564209,
+        0.8045983828102493
+      ],
+      "z_min": 0.7409152723848587,
+      "z_max": 0.8046177078718024
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        1.7570839765205541,
+        8.259724686736954,
+        0.7563594665096774
+      ],
+      "rotation_wxyz": [
+        0.7861354447479836,
+        -0.00035950776809588313,
+        0.000363227175358658,
+        0.6180540440212927
+      ],
+      "yaw_degrees_local": 76.28963993986298,
+      "yaw_radians": 1.3325300332052081,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7570839765205541,
+        8.259724686736954,
+        0.7715279434622089
+      ],
+      "z_min": 0.7411537893940141,
+      "z_max": 0.771490743299077
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        4.967812049713056,
+        8.413506791352075,
+        0.9327165847908144
+      ],
+      "rotation_wxyz": [
+        -0.0003685833741555178,
+        0.0,
+        0.0,
+        0.9999999320731459
+      ],
+      "yaw_degrees_local": 90.04223654443194,
+      "yaw_radians": -3.140855486824791,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.967812049713056,
+        8.413506791352075,
+        0.9452852510498438
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9453373614143905
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.4439334112388864,
+        8.904985757326038,
+        0.7891512042349571
+      ],
+      "rotation_wxyz": [
+        0.7740661342723711,
+        -0.00043264880467958473,
+        -0.0002720199037747773,
+        -0.633104540019112
+      ],
+      "yaw_degrees_local": -78.61780883883624,
+      "yaw_radians": -1.371114767189758,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4439334112388864,
+        8.904985757326038,
+        0.8380186687409062
+      ],
+      "z_min": 0.7402856367226389,
+      "z_max": 0.8380205657345373
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.8440580427109565,
+        8.18535601899533,
+        0.7777470575866151
+      ],
+      "rotation_wxyz": [
+        0.9999988417212028,
+        -0.000507024545818348,
+        6.407750134025635e-05,
+        0.0014336584101053915
+      ],
+      "yaw_degrees_local": 0.10557481079297304,
+      "yaw_radians": 0.0028672524740865754,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8440580427109565,
+        8.18535601899533,
+        0.8143572706557938
+      ],
+      "z_min": 0.7410915068623304,
+      "z_max": 0.8143119330006877
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.7403619568901183,
+        8.28118692446933,
+        0.8089341008875047
+      ],
+      "rotation_wxyz": [
+        0.21491711238191055,
+        -4.711771873902415e-05,
+        0.000508880867022079,
+        0.9766321588119067
+      ],
+      "yaw_degrees_local": 155.1199572523098,
+      "yaw_radians": 2.7083788310284276,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7403619568901183,
+        8.28118692446933,
+        0.8769894444410906
+      ],
+      "z_min": 0.7408807657651952,
+      "z_max": 0.8769914528723669
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.7025524761186013,
+        8.396417119415913,
+        0.8709732837866635
+      ],
+      "rotation_wxyz": [
+        0.9080478880706707,
+        -0.0004870209653581372,
+        -0.00015488833249131703,
+        -0.4188660547126952
+      ],
+      "yaw_degrees_local": -49.58475225345299,
+      "yaw_radians": -0.8643922353776601,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7025524761186013,
+        8.396417119415913,
+        1.0011404333014327
+      ],
+      "z_min": 0.7410221206710272,
+      "z_max": 1.0013564197005655
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        4.826978348099426,
+        8.736651186900335,
+        0.9302217213458339
+      ],
+      "rotation_wxyz": [
+        0.7269476135571737,
+        0.0,
+        0.0,
+        0.6866929205573116
+      ],
+      "yaw_degrees_local": -3.2622167419977757,
+      "yaw_radians": 1.5138599037333533,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.826978348099426,
+        8.736651186900335,
+        0.9402590723266526
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9402747308579692
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        1.9223352047149707,
+        8.83117532091092,
+        0.8192628714918029
+      ],
+      "rotation_wxyz": [
+        0.5815268797311286,
+        -0.0003464389392672742,
+        -0.0003757124932706903,
+        -0.8135270290349065
+      ],
+      "yaw_degrees_local": -108.94268564935932,
+      "yaw_radians": -1.9003839746814943,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9223352047149707,
+        8.83117532091092,
+        0.8979735343164248
+      ],
+      "z_min": 0.7405533014291777,
+      "z_max": 0.8979746270784217
+    }
+  ],
+  "variant_index": 2
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0003/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0003/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..75350279820721a0132252627531d900f8088b9e
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0003/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7272049327870909078
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.631999594, -0.000369591757, -0.000352961399, -0.774968549)
+            double3 xformOp:translate = (3.58678690678, 8.55702842816, 0.74031672463)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980910103, -0.00050975438, -3.64731237e-05, -0.194461071)
+            double3 xformOp:translate = (3.18587082376, 8.39852314529, 0.740831975699)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.648871671, -0.00037725646, -0.000344756986, -0.760897689)
+            double3 xformOp:translate = (3.40921831734, 8.56266117534, 0.765663922948)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987301331, -0.000490612526, 0.000143105434, 0.158857865)
+            double3 xformOp:translate = (2.99342433036, 8.31472887993, 0.775192406347)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989783796, -0.00049290292, 0.000135005657, 0.142575508)
+            double3 xformOp:translate = (3.65740083602, 8.85683202614, 0.800981926195)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.462220825, -0.000178222529, 0.000478974473, 0.886764708)
+            double3 xformOp:translate = (2.00201449045, 8.35686145898, 0.740720532852)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973559116, -0.000508178821, -5.4167354e-05, -0.228434645)
+            double3 xformOp:translate = (1.94459924406, 8.77388694948, 0.753118941816)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.336253345, 0, 0, 0.941771569)
+            double3 xformOp:translate = (4.93256091192, 8.11615107937, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.918940303, -0.000441024069, 0.000258220036, 0.394396323)
+            double3 xformOp:translate = (2.25887577731, 8.26594241146, 0.744637466954)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.108566475, -0.000118031874, -0.000497240679, -0.99408906)
+            double3 xformOp:translate = (2.60778029387, 8.84655132637, 0.745738032729)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.62504715, -0.000267520783, 0.000435445113, 0.78058683)
+            double3 xformOp:translate = (3.72016123263, 8.33390412759, 0.796989771693)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.685299234, 0, 0, 0.728261601)
+            double3 xformOp:translate = (4.82423904896, 8.73496169606, 1.05015119201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.172429586, -2.50401331e-05, 0.000510443736, 0.985021714)
+            double3 xformOp:translate = (2.74114025172, 8.26611554219, 0.85786225924)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997865774, -0.000501897086, 9.63282453e-05, 0.0652965177)
+            double3 xformOp:translate = (1.7720723062, 8.60075541719, 0.781369547708)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976293695, -0.000481381921, 0.0001716137, 0.216449439)
+            double3 xformOp:translate = (3.50460945295, 8.23101309912, 0.827348790399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.473436613, -0.000295888177, -0.000416689336, -0.880827743)
+            double3 xformOp:translate = (1.73436004245, 8.78012890126, 0.787951929534)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.888012017, -0.000479454908, -0.000176925995, -0.459819961)
+            double3 xformOp:translate = (3.519312633, 8.74811316419, 0.870386396794)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.800403024, -0.000443873391, -0.000253290799, -0.599462041)
+            double3 xformOp:translate = (1.74806594018, 8.2718348543, 0.827529943692)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.799269089, -0.000443394081, -0.000254128915, -0.600973096)
+            double3 xformOp:translate = (2.03053476374, 8.72037530477, 0.796811877756)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.577772456, -0.000241291062, 0.000450509089, 0.816197726)
+            double3 xformOp:translate = (1.8630089511, 8.28031360034, 0.748815671442)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.713560095, -0.000406240711, -0.000310077895, -0.70059384)
+            double3 xformOp:translate = (2.02082523885, 8.62416348666, 0.771342756294)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98796502, -0.000510811674, -1.58508637e-05, -0.154676625)
+            double3 xformOp:translate = (3.49442456075, 8.37629846014, 0.822005156485)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.843852903, -0.000461923548, -0.000218646867, -0.536574335)
+            double3 xformOp:translate = (3.23336379085, 8.87868658035, 0.740338964076)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0828930642, 2.10961156e-05, 0.000510621944, 0.996558317)
+            double3 xformOp:translate = (2.43088404828, 8.34186849629, 0.775951218584)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.524375569, -0.000319861379, -0.000398583134, -0.851486935)
+            double3 xformOp:translate = (3.17658527666, 8.26118873993, 0.740972441161)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.499823414, -0.000198598801, 0.000470890999, 0.866127181)
+            double3 xformOp:translate = (3.32351780869, 8.88948434005, 0.78763966966)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.282156981, -8.23098155e-05, 0.000504385676, 0.959368113)
+            double3 xformOp:translate = (3.33731238692, 8.33077509821, 0.801556025624)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.734115548, -0.000329265145, 0.000390850714, 0.679024374)
+            double3 xformOp:translate = (2.35862177631, 8.87707786328, 0.799449888141)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.596378433, -0.000353284706, -0.000369282727, -0.802703248)
+            double3 xformOp:translate = (2.21532175765, 8.88242804147, 0.74949807073)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869380559, -0.000409572533, 0.000305663469, 0.494142877)
+            double3 xformOp:translate = (2.37862271456, 8.22362086799, 0.817261215716)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0003/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0003/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..a654b76ac0a287b7c8d99bb3aef7baa0b4189a59
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0003/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7272049327870909078,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 5,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 5,
+    "sceneforge_base": 25
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 6,
+    "electronics": 7,
+    "small object": 6,
+    "office_supply": 1,
+    "office_supplies": 1,
+    "clock": 4,
+    "small prop": 2
+  },
+  "failed_sampling_attempt_count": 213,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.5867869067774523,
+        8.557028428160136,
+        0.7403167246304199
+      ],
+      "rotation_wxyz": [
+        0.6319995938993146,
+        -0.0003695917573115375,
+        -0.0003529613989768317,
+        -0.7749685491239534
+      ],
+      "yaw_degrees_local": -101.66309120179062,
+      "yaw_radians": -1.7733310198158843,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5867869067774523,
+        8.557028428160136,
+        0.7491287920349257
+      ],
+      "z_min": 0.7406204208602409,
+      "z_max": 0.7582445556692525
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.1858708237615314,
+        8.39852314528716,
+        0.7408319756990285
+      ],
+      "rotation_wxyz": [
+        0.9809101032290164,
+        -0.000509754379564412,
+        -3.647312373809005e-05,
+        -0.19446107117730374
+      ],
+      "yaw_degrees_local": -22.485198580426612,
+      "yaw_radians": -0.39141592507491746,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1858708237615314,
+        8.39852314528716,
+        0.7633289874128115
+      ],
+      "z_min": 0.740831978693963,
+      "z_max": 0.7858260021215291
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.4092183173358883,
+        8.562661175337631,
+        0.7656639229476547
+      ],
+      "rotation_wxyz": [
+        0.6488716712829287,
+        -0.0003772564603249156,
+        -0.0003447569859820508,
+        -0.7608976889350386
+      ],
+      "yaw_degrees_local": -99.14552836217764,
+      "yaw_radians": -1.7293912363390234,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4092183173358883,
+        8.562661175337631,
+        0.79060816451778
+      ],
+      "z_min": 0.7406372193176247,
+      "z_max": 0.7905257024578753
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        2.9934243303578163,
+        8.3147288799263,
+        0.775192406346751
+      ],
+      "rotation_wxyz": [
+        0.9873013306675424,
+        -0.0004906125262834537,
+        0.0001431054341878046,
+        0.15885786503124108
+      ],
+      "yaw_degrees_local": 18.22250968722949,
+      "yaw_radians": 0.3190672797292548,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9934243303578163,
+        8.3147288799263,
+        0.8093979260592529
+      ],
+      "z_min": 0.7409413666118775,
+      "z_max": 0.8093524060368812
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.6574008360218038,
+        8.856832026140617,
+        0.8009819261949659
+      ],
+      "rotation_wxyz": [
+        0.9897837963109982,
+        -0.0004929029204145572,
+        0.00013500565650043434,
+        0.1425755076455014
+      ],
+      "yaw_degrees_local": 16.33510634663125,
+      "yaw_radians": 0.2861258884285474,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6574008360218038,
+        8.856832026140617,
+        0.8616087926502255
+      ],
+      "z_min": 0.7403074353928836,
+      "z_max": 0.8615611683034028
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        2.002014490449472,
+        8.356861458978086,
+        0.7407205328521659
+      ],
+      "rotation_wxyz": [
+        0.46222082516290364,
+        -0.00017822252938508055,
+        0.000478974473495088,
+        0.8867647081418546
+      ],
+      "yaw_degrees_local": 124.88026899291293,
+      "yaw_radians": 2.1805968146293115,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.002014490449472,
+        8.356861458978086,
+        0.7495326002566717
+      ],
+      "z_min": 0.741024229081987,
+      "z_max": 0.7586483638909985
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        1.944599244057382,
+        8.773886949484309,
+        0.7531189418161937
+      ],
+      "rotation_wxyz": [
+        0.9735591157696531,
+        -0.0005081788208856229,
+        -5.416735403922285e-05,
+        -0.2284346447498607
+      ],
+      "yaw_degrees_local": -26.46857441883631,
+      "yaw_radians": -0.46093891892878625,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.944599244057382,
+        8.773886949484309,
+        0.7656897645814585
+      ],
+      "z_min": 0.7406085496803422,
+      "z_max": 0.7657501952108718
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.932560911921001,
+        8.116151079371571,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        -0.3362533451984591,
+        0.0,
+        0.0,
+        0.9417715688227406
+      ],
+      "yaw_degrees_local": 129.29754249668844,
+      "yaw_radians": -2.4557211490801873,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.932560911921001,
+        8.116151079371571,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.25887577731201,
+        8.265942411459282,
+        0.7446374669542632
+      ],
+      "rotation_wxyz": [
+        0.9189403025061672,
+        -0.0004410240687799478,
+        0.000258220036010168,
+        0.3943963225615293
+      ],
+      "yaw_degrees_local": 46.39795513577752,
+      "yaw_radians": 0.8108215238728141,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.25887577731201,
+        8.265942411459282,
+        0.7482125275304831
+      ],
+      "z_min": 0.7410838995075597,
+      "z_max": 0.7482340206599993
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.607780293874483,
+        8.846551326365454,
+        0.7457380327292771
+      ],
+      "rotation_wxyz": [
+        0.10856647529478161,
+        -0.00011803187433603075,
+        -0.0004972406790288141,
+        -0.9940890600254344
+      ],
+      "yaw_degrees_local": -167.59333728957816,
+      "yaw_radians": -2.924031014961919,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.607780293874483,
+        8.846551326365454,
+        0.7510390233603905
+      ],
+      "z_min": 0.7404508215760094,
+      "z_max": 0.7510528028382364
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.720161232632429,
+        8.333904127592659,
+        0.796989771693204
+      ],
+      "rotation_wxyz": [
+        0.6250471504603515,
+        -0.00026752078337077877,
+        0.0004354451133093555,
+        0.7805868295850108
+      ],
+      "yaw_degrees_local": 102.56998108705108,
+      "yaw_radians": 1.791208739925208,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.720161232632429,
+        8.333904127592659,
+        0.8531720515030966
+      ],
+      "z_min": 0.7408298515232398,
+      "z_max": 0.8531944111430251
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        4.8242390489562865,
+        8.73496169606439,
+        1.050151192011968
+      ],
+      "rotation_wxyz": [
+        -0.6852992340199788,
+        0.0,
+        0.0,
+        0.7282616012475396
+      ],
+      "yaw_degrees_local": 176.51828950733983,
+      "yaw_radians": -1.6315636384930505,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8242390489562865,
+        8.73496169606439,
+        1.180318341526737
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.18053432792587
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.7411402517222587,
+        8.266115542189493,
+        0.8578622592398926
+      ],
+      "rotation_wxyz": [
+        0.17242958558667276,
+        -2.5040133084721226e-05,
+        0.000510443736346536,
+        0.9850217138898981
+      ],
+      "yaw_degrees_local": 160.08306607599667,
+      "yaw_radians": 2.7950013821734374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7411402517222587,
+        8.266115542189493,
+        0.974721077915865
+      ],
+      "z_min": 0.741022679639628,
+      "z_max": 0.9747403169915728
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        1.7720723062034298,
+        8.600755417185502,
+        0.7813695477080448
+      ],
+      "rotation_wxyz": [
+        0.9978657743396464,
+        -0.0005018970864585656,
+        9.632824531110172e-05,
+        0.06529651768449672
+      ],
+      "yaw_degrees_local": 7.429047606378134,
+      "yaw_radians": 0.13068590365381244,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7720723062034298,
+        8.600755417185502,
+        0.8219195568475763
+      ],
+      "z_min": 0.7408060192614798,
+      "z_max": 0.8219060375405428
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.5046094529531104,
+        8.231013099121348,
+        0.8273487903989816
+      ],
+      "rotation_wxyz": [
+        0.9762936952071724,
+        -0.00048138192119796255,
+        0.00017161370045561998,
+        0.2164494387123905
+      ],
+      "yaw_degrees_local": 24.942446070689954,
+      "yaw_radians": 0.4363522623243288,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5046094529531104,
+        8.231013099121348,
+        0.9137480693572483
+      ],
+      "z_min": 0.7409615333566206,
+      "z_max": 0.9137600912731539
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.7343600424456174,
+        8.78012890125542,
+        0.7879519295338948
+      ],
+      "rotation_wxyz": [
+        0.4734366132597853,
+        -0.00029588817721547863,
+        -0.00041668933610594617,
+        -0.8808277425497499
+      ],
+      "yaw_degrees_local": -123.54348878533665,
+      "yaw_radians": -2.155216166422983,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7343600424456174,
+        8.78012890125542,
+        0.8353180561951498
+      ],
+      "z_min": 0.7406288746191451,
+      "z_max": 0.8353611279416551
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.519312632996506,
+        8.748113164189357,
+        0.8703863967939941
+      ],
+      "rotation_wxyz": [
+        0.8880120171095942,
+        -0.0004794549077081396,
+        -0.00017692599502303768,
+        -0.45981996073369175
+      ],
+      "yaw_degrees_local": -54.80969918593634,
+      "yaw_radians": -0.9555847626210701,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.519312632996506,
+        8.748113164189357,
+        1.0005535463087631
+      ],
+      "z_min": 0.740435233678358,
+      "z_max": 1.0007695327078963
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        1.7480659401845253,
+        8.271834854296388,
+        0.8275299436924739
+      ],
+      "rotation_wxyz": [
+        0.8004030238654187,
+        -0.000443873391006179,
+        -0.00025329079927424996,
+        -0.5994620406725332
+      ],
+      "yaw_degrees_local": -73.72147933683321,
+      "yaw_radians": -1.2856576629942955,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7480659401845253,
+        8.271834854296388,
+        0.9139292226507406
+      ],
+      "z_min": 0.741142686650113,
+      "z_max": 0.9139412445666463
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.030534763737123,
+        8.720375304769998,
+        0.7968118777563762
+      ],
+      "rotation_wxyz": [
+        0.7992690889397691,
+        -0.0004433940806974903,
+        -0.0002541289150072066,
+        -0.6009730961412294
+      ],
+      "yaw_degrees_local": -73.93796638945662,
+      "yaw_radians": -1.2894360762041188,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.030534763737123,
+        8.720375304769998,
+        0.8529941575662688
+      ],
+      "z_min": 0.740651957586412,
+      "z_max": 0.8530165172061973
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        1.8630089511034233,
+        8.280313600342238,
+        0.7488156714419433
+      ],
+      "rotation_wxyz": [
+        0.5777724560953164,
+        -0.00024129106188876023,
+        0.000450509089467579,
+        0.8161977259204841
+      ],
+      "yaw_degrees_local": 109.35323678313216,
+      "yaw_radians": 1.909598928466473,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8630089511034233,
+        8.280313600342238,
+        0.7566705777857439
+      ],
+      "z_min": 0.7411194827197229,
+      "z_max": 0.7568292954073241
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.020825238850515,
+        8.624163486661294,
+        0.7713427562935832
+      ],
+      "rotation_wxyz": [
+        0.7135600954858712,
+        -0.000406240710821032,
+        -0.0003100778952326903,
+        -0.7005938402172677
+      ],
+      "yaw_degrees_local": -89.00805975576036,
+      "yaw_radians": -1.5524589399373177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.020825238850515,
+        8.624163486661294,
+        0.8019451577989759
+      ],
+      "z_min": 0.7407507555602076,
+      "z_max": 0.8019555585709932
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.4944245607515594,
+        8.37629846013917,
+        0.8220051564847131
+      ],
+      "rotation_wxyz": [
+        0.9879650198166001,
+        -0.0005108116740653589,
+        -1.5850863662847544e-05,
+        -0.1546766253800784
+      ],
+      "yaw_degrees_local": -17.854796908681294,
+      "yaw_radians": -0.3106002081203779,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4944245607515594,
+        8.37629846013917,
+        0.9032490097780781
+      ],
+      "z_min": 0.7408154679908264,
+      "z_max": 0.9033031745775564
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.2333637908513047,
+        8.87868658034685,
+        0.7403389640755853
+      ],
+      "rotation_wxyz": [
+        0.8438529028549155,
+        -0.00046192354760520124,
+        -0.00021864686690674988,
+        -0.5365743351703625
+      ],
+      "yaw_degrees_local": -64.96020406603513,
+      "yaw_radians": -1.1327445179822564,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2333637908513047,
+        8.87868658034685,
+        0.7903390579529008
+      ],
+      "z_min": 0.7403389640755853,
+      "z_max": 0.8403391518302163
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.4308840482837692,
+        8.341868496293145,
+        0.7759512185841461
+      ],
+      "rotation_wxyz": [
+        0.08289306424070084,
+        2.1096115620410262e-05,
+        0.0005106219444423075,
+        0.9965583167687534
+      ],
+      "yaw_degrees_local": 170.43153092497062,
+      "yaw_radians": 2.975616075732371,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4308840482837692,
+        8.341868496293145,
+        0.8110642929273314
+      ],
+      "z_min": 0.7409851155972151,
+      "z_max": 0.8112112642835859
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.176585276661309,
+        8.261188739928254,
+        0.7409724411612256
+      ],
+      "rotation_wxyz": [
+        0.5243755692398917,
+        -0.00031986137850452824,
+        -0.000398583134090613,
+        -0.8514869354279745
+      ],
+      "yaw_degrees_local": -116.80626842626928,
+      "yaw_radians": -2.037629446148485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.176585276661309,
+        8.261188739928254,
+        0.7634694528750087
+      ],
+      "z_min": 0.7409724441561601,
+      "z_max": 0.7859664675837262
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.323517808688869,
+        8.889484340053535,
+        0.7876396696595933
+      ],
+      "rotation_wxyz": [
+        0.49982341407953546,
+        -0.00019859880078889307,
+        0.00047089099860320773,
+        0.8661271809371077
+      ],
+      "yaw_degrees_local": 119.96464523093232,
+      "yaw_radians": 2.094802986809091,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.323517808688869,
+        8.889484340053535,
+        0.8350057963208483
+      ],
+      "z_min": 0.7403166147448436,
+      "z_max": 0.8350488680673536
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.3373123869173003,
+        8.330775098206903,
+        0.8015560256235419
+      ],
+      "rotation_wxyz": [
+        0.2821569807074683,
+        -8.230981552339041e-05,
+        0.0005043856763517557,
+        0.9593681134258264
+      ],
+      "yaw_degrees_local": 147.16332051989747,
+      "yaw_radians": 2.5695093752355422,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3373123869173003,
+        8.330775098206903,
+        0.8621828920788015
+      ],
+      "z_min": 0.7408815348214596,
+      "z_max": 0.8621352677319788
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.358621776309792,
+        8.877077863282098,
+        0.7994498881406351
+      ],
+      "rotation_wxyz": [
+        0.7341155479019223,
+        -0.00032926514478096524,
+        0.0003908507140490889,
+        0.6790243744880182
+      ],
+      "yaw_degrees_local": 85.476205796464,
+      "yaw_radians": 1.4928659375581186,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.358621776309792,
+        8.877077863282098,
+        0.8585761661731552
+      ],
+      "z_min": 0.740451457299929,
+      "z_max": 0.8587040133649693
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        2.2153217576521027,
+        8.882428041472242,
+        0.7494980707303103
+      ],
+      "rotation_wxyz": [
+        0.5963784328099634,
+        -0.00035328470636978297,
+        -0.00036928272703381197,
+        -0.8027032475948481
+      ],
+      "yaw_degrees_local": -106.83677939609014,
+      "yaw_radians": -1.8636289589545094,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2153217576521027,
+        8.882428041472242,
+        0.7583313168337925
+      ],
+      "z_min": 0.740464161150511,
+      "z_max": 0.7581306533574754
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.37862271455588,
+        8.223620867987973,
+        0.8172612157160499
+      ],
+      "rotation_wxyz": [
+        0.8693805586962731,
+        -0.00040957253344882843,
+        0.00030566346867857947,
+        0.49414287709238536
+      ],
+      "yaw_degrees_local": 59.1677911913026,
+      "yaw_radians": 1.0336972655797643,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.37862271455588,
+        8.223620867987973,
+        0.893447154238136
+      ],
+      "z_min": 0.7411116892288476,
+      "z_max": 0.89348356627302
+    }
+  ],
+  "variant_index": 3
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0005/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0005/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..2cfba3d44b2934df907c623fa8eade1145fd6b35
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0005/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 957605316892808448
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.972770923, -0.000478625019, 0.000179158888, 0.231768139)
+            double3 xformOp:translate = (3.46373327137, 8.34336171285, 0.740852716715)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.629977791, -0.000270272935, 0.00043374227, 0.776612981)
+            double3 xformOp:translate = (2.82256490615, 8.89203744309, 0.74037747188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.696425515, -0.00030770631, 0.000408040002, 0.717628902)
+            double3 xformOp:translate = (3.6801217217, 8.27598382133, 0.780239624387)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.548986461, -0.000331350148, -0.00038908469, -0.835831086)
+            double3 xformOp:translate = (1.86029161598, 8.63328346962, 0.753278392023)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.146695624, -1.1726503e-05, 0.000510922994, 0.989181547)
+            double3 xformOp:translate = (2.27651669097, 8.2296039871, 0.818653309906)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.202734615, -4.07749784e-05, 0.000509428324, 0.979233585)
+            double3 xformOp:translate = (2.03218802605, 8.86274210814, 0.743546750892)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.714792075, -0.000406785836, -0.000309362408, -0.699336849)
+            double3 xformOp:translate = (2.14232867495, 8.89834945763, 0.810628965519)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.788071888, -0.000360646311, 0.000362096748, 0.615583007)
+            double3 xformOp:translate = (2.01525185201, 8.25734785737, 0.781687031584)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97342222, -0.00050814631, -5.44714966e-05, -0.229017293)
+            double3 xformOp:translate = (3.28938093151, 8.50229827893, 0.813485868583)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.377572745, -0.000132811841, 0.000493498562, 0.925979784)
+            double3 xformOp:translate = (1.93481970831, 8.79480868943, 0.750610260406)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.790264954, -0.000361936967, 0.000360806663, 0.612765078)
+            double3 xformOp:translate = (3.12640683045, 8.88362065821, 0.740347511342)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.89907476, -0.000428200616, 0.00027896962, 0.437794832)
+            double3 xformOp:translate = (2.84013351322, 8.26120100581, 0.744135991459)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.455633656, -0.000174666518, 0.00048028265, 0.890167238)
+            double3 xformOp:translate = (2.63294940109, 8.25217073607, 0.753560868451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.639403639, -0.000372960188, -0.000349400221, -0.768871072)
+            double3 xformOp:translate = (1.73386246818, 8.35636716676, 0.754504452624)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0806480033, -0.000104042069, -0.000500354938, -0.996742514)
+            double3 xformOp:translate = (3.3717798609, 8.41921224475, 0.827174742428)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978513083, -0.000509281473, -4.25699127e-05, -0.206184103)
+            double3 xformOp:translate = (3.46465466391, 8.80711674504, 0.786959171355)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0611196517, 3.22373475e-05, 0.000510039773, 0.998130316)
+            double3 xformOp:translate = (3.56299242989, 8.24859754657, 0.789801849368)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.219811057, -4.96685574e-05, 0.000508638232, 0.97554233)
+            double3 xformOp:translate = (3.62144169679, 8.55653083207, 0.751859633829)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.819996257, -0.000379573321, 0.000342204486, 0.572368654)
+            double3 xformOp:translate = (1.98079325318, 8.43029781554, 0.806256784074)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993245345, -0.000496339874, 0.000121764306, 0.116031989)
+            double3 xformOp:translate = (3.24794873447, 8.20998704002, 0.775084993348)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996251636, -0.000499735218, 0.000106979101, 0.0865009618)
+            double3 xformOp:translate = (3.05580223969, 8.32963749492, 0.801592847068)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.867696296, -0.000408531434, 0.000307053552, 0.497094435)
+            double3 xformOp:translate = (3.38810532371, 8.60023209177, 0.817969333433)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.678852742, 0, 0, 0.734274441)
+            double3 xformOp:translate = (4.9628274216, 8.39603843895, 1.00211090552)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.52532128, -0.000320304022, -0.00039822751, -0.850903809)
+            double3 xformOp:translate = (2.93826265634, 8.85705712565, 0.813170547824)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.909758775, -0.000435054038, 0.000268156298, 0.415136977)
+            double3 xformOp:translate = (3.16630743608, 8.67983957501, 0.746199576443)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.590354756, -0.000248245322, 0.000446714759, 0.80714373)
+            double3 xformOp:translate = (3.3505591432, 8.8134522816, 0.746080081719)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.597386455, -0.000252140023, 0.000444528092, 0.801953341)
+            double3 xformOp:translate = (3.62832374887, 8.41597269128, 0.745078494331)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.771575153, -0.000431577758, -0.000273716011, -0.636137974)
+            double3 xformOp:translate = (3.65779972994, 8.72617972362, 0.745803330476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0875979134, 1.86847108e-05, 0.000510715868, 0.996155783)
+            double3 xformOp:translate = (2.45002755384, 8.26268602726, 0.827450283404)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.31425954, -0.00021950704, -0.000461515412, -0.949336969)
+            double3 xformOp:translate = (2.60030362026, 8.86684605553, 0.745718396465)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0005/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0005/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb892af2a2d5bad0693c22fb89b120a5a64987ae
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0005/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 957605316892808448,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 7,
+    "clock": 1,
+    "small object": 7,
+    "small prop": 2,
+    "paper_goods": 1,
+    "writing_instrument": 1,
+    "office_supplies": 2,
+    "office_supply": 2
+  },
+  "failed_sampling_attempt_count": 199,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.4637332713694913,
+        8.343361712853325,
+        0.7408527167153195
+      ],
+      "rotation_wxyz": [
+        0.9727709228822534,
+        -0.0004786250191285824,
+        0.00017915888843280072,
+        0.23176813934402815
+      ],
+      "yaw_degrees_local": 26.743676905191165,
+      "yaw_radians": 0.4677896643083945,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4637332713694913,
+        8.343361712853325,
+        0.7633497284291025
+      ],
+      "z_min": 0.740852719710254,
+      "z_max": 0.7858467431378201
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.8225649061527354,
+        8.892037443090642,
+        0.7403774718799518
+      ],
+      "rotation_wxyz": [
+        0.6299777905647005,
+        -0.00027027293511218707,
+        0.00043374227000161756,
+        0.7766129809727639
+      ],
+      "yaw_degrees_local": 101.84430947507826,
+      "yaw_radians": 1.7785433758502165,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8225649061527354,
+        8.892037443090642,
+        0.7903775657572674
+      ],
+      "z_min": 0.7403774718799518,
+      "z_max": 0.8403776596345829
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.6801217217048454,
+        8.275983821331916,
+        0.7802396243874681
+      ],
+      "rotation_wxyz": [
+        0.6964255149816042,
+        -0.00030770630989382266,
+        0.0004080400018280553,
+        0.7176289019422164
+      ],
+      "yaw_degrees_local": 91.65943215140521,
+      "yaw_radians": 1.6007836509820357,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6801217217048454,
+        8.275983821331916,
+        0.8195884837133439
+      ],
+      "z_min": 0.7408936604295318,
+      "z_max": 0.8195913790812834
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        1.8602916159766265,
+        8.633283469620782,
+        0.7532783920225107
+      ],
+      "rotation_wxyz": [
+        0.5489864610003291,
+        -0.0003313501478458776,
+        -0.0003890846897049892,
+        -0.8358310860805058
+      ],
+      "yaw_degrees_local": -113.46368516662491,
+      "yaw_radians": -1.979290338077924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8602916159766265,
+        8.633283469620782,
+        0.7658470582815401
+      ],
+      "z_min": 0.740761836128028,
+      "z_max": 0.7658991686460868
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.276516690972996,
+        8.229603987099612,
+        0.8186533099059444
+      ],
+      "rotation_wxyz": [
+        0.14669562421626683,
+        -1.1726502976087025e-05,
+        0.0005109229935795261,
+        0.9891815468638625
+      ],
+      "yaw_degrees_local": 163.07032459121172,
+      "yaw_radians": 2.847138853719941,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.276516690972996,
+        8.229603987099612,
+        0.8963601437393769
+      ],
+      "z_min": 0.7411185586280986,
+      "z_max": 0.8965322262949635
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.0321880260451275,
+        8.862742108138951,
+        0.7435467508920813
+      ],
+      "rotation_wxyz": [
+        0.20273461542954221,
+        -4.077497836702211e-05,
+        0.0005094283240844403,
+        0.9792335852731051
+      ],
+      "yaw_degrees_local": 156.54745120961388,
+      "yaw_radians": 2.7332932898441404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0321880260451275,
+        8.862742108138951,
+        0.746658754135957
+      ],
+      "z_min": 0.7405073273752407,
+      "z_max": 0.7467313338629918
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.1423286749478234,
+        8.89834945762732,
+        0.8106289655194343
+      ],
+      "rotation_wxyz": [
+        0.7147920753858694,
+        -0.0004067858363826662,
+        -0.00030936240812155455,
+        -0.6993368485828168
+      ],
+      "yaw_degrees_local": -88.80637196919366,
+      "yaw_radians": -1.548938822238031,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1423286749478234,
+        8.89834945762732,
+        0.8808053317513531
+      ],
+      "z_min": 0.7404572933792142,
+      "z_max": 0.8808100258430519
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.0152518520084826,
+        8.2573478573736,
+        0.7816870315842445
+      ],
+      "rotation_wxyz": [
+        0.7880718880025327,
+        -0.00036064631092517385,
+        0.0003620967476467794,
+        0.6155830067182717
+      ],
+      "yaw_degrees_local": 75.92989090489309,
+      "yaw_radians": 1.3262512248739138,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0152518520084826,
+        8.2573478573736,
+        0.822237040723776
+      ],
+      "z_min": 0.7411235031376795,
+      "z_max": 0.8222235214167425
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.289380931511323,
+        8.502298278929228,
+        0.8134858685827527
+      ],
+      "rotation_wxyz": [
+        0.9734222200253906,
+        -0.0005081463099372824,
+        -5.447149655953996e-05,
+        -0.2290172927554252
+      ],
+      "yaw_degrees_local": -26.537159094098,
+      "yaw_radians": -0.46213594684016507,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.289380931511323,
+        8.502298278929228,
+        0.8863483131894965
+      ],
+      "z_min": 0.7407136497808763,
+      "z_max": 0.8864385389943636
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.934819708312425,
+        8.794808689430551,
+        0.7506102604061232
+      ],
+      "rotation_wxyz": [
+        0.3775727449602585,
+        -0.00013281184084971547,
+        0.0004934985624806039,
+        0.9259797843815811
+      ],
+      "yaw_degrees_local": 135.57445606385875,
+      "yaw_radians": 2.3672455817076012,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.934819708312425,
+        8.794808689430551,
+        0.7606476113869419
+      ],
+      "z_min": 0.7405885679566211,
+      "z_max": 0.7606632699182585
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.1264068304536727,
+        8.883620658212124,
+        0.7403475113417674
+      ],
+      "rotation_wxyz": [
+        0.7902649539696762,
+        -0.0003619369669590467,
+        0.000360806663171287,
+        0.612765078433399
+      ],
+      "yaw_degrees_local": 75.52071278308759,
+      "yaw_radians": 1.3191097158047085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1264068304536727,
+        8.883620658212124,
+        0.7903476052190829
+      ],
+      "z_min": 0.7403475113417674,
+      "z_max": 0.8403476990963984
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        2.840133513221562,
+        8.261201005807191,
+        0.7441359914588203
+      ],
+      "rotation_wxyz": [
+        0.8990747599152947,
+        -0.00042820061598732246,
+        0.00027896961968714487,
+        0.4377948319743384
+      ],
+      "yaw_degrees_local": 51.86783121166445,
+      "yaw_radians": 0.9062888902278708,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.840133513221562,
+        8.261201005807191,
+        0.7471485079439797
+      ],
+      "z_min": 0.7410150621613548,
+      "z_max": 0.7470400951316736
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        2.6329494010904244,
+        8.252170736074662,
+        0.7535608684511579
+      ],
+      "rotation_wxyz": [
+        0.45563365557176466,
+        -0.0001746665184938605,
+        0.0004802826496528336,
+        0.8901672375068039
+      ],
+      "yaw_degrees_local": 125.72985760794478,
+      "yaw_radians": 2.1954249339283107,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6329494010904244,
+        8.252170736074662,
+        0.7661316912164228
+      ],
+      "z_min": 0.7410504763153064,
+      "z_max": 0.7661921218458361
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        1.7338624681834534,
+        8.356367166760862,
+        0.7545044526237457
+      ],
+      "rotation_wxyz": [
+        0.6394036389391015,
+        -0.00037296018820005556,
+        -0.0003494002207470564,
+        -0.7688710719825653
+      ],
+      "yaw_degrees_local": -100.56396853659106,
+      "yaw_radians": -1.7541477004992134,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7338624681834534,
+        8.356367166760862,
+        0.7680492019963429
+      ],
+      "z_min": 0.7410587127528758,
+      "z_max": 0.7681482114980702
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.3717798608963223,
+        8.419212244745987,
+        0.8271747424278724
+      ],
+      "rotation_wxyz": [
+        0.08064800331569756,
+        -0.00010404206944698461,
+        -0.000500354938044486,
+        -0.9967425135818052
+      ],
+      "yaw_degrees_local": -170.80708131304027,
+      "yaw_radians": -2.9801214057838585,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3717798608963223,
+        8.419212244745987,
+        0.9135740213861391
+      ],
+      "z_min": 0.7407874853855114,
+      "z_max": 0.9135860433020447
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.464654663913038,
+        8.80711674503838,
+        0.7869591713549893
+      ],
+      "rotation_wxyz": [
+        0.9785130834638439,
+        -0.0005092814730303903,
+        -4.256991271201322e-05,
+        -0.20618410295234824
+      ],
+      "yaw_degrees_local": -23.85636175591148,
+      "yaw_radians": -0.4153472264670103,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.464654663913038,
+        8.80711674503838,
+        0.8333263394908742
+      ],
+      "z_min": 0.7403822720226304,
+      "z_max": 0.8331166082944003
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.562992429893328,
+        8.2485975465692,
+        0.789801849368098
+      ],
+      "rotation_wxyz": [
+        0.0611196517203283,
+        3.223734751422551e-05,
+        0.000510039772631076,
+        0.9981303156370764
+      ],
+      "yaw_degrees_local": 172.9331245627419,
+      "yaw_radians": 3.019277098476895,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.562992429893328,
+        8.2485975465692,
+        0.8386693138740472
+      ],
+      "z_min": 0.7409362818557799,
+      "z_max": 0.8386712108676783
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.6214416967874783,
+        8.556530832071665,
+        0.751859633829012
+      ],
+      "rotation_wxyz": [
+        0.21981105700327042,
+        -4.966855737964771e-05,
+        0.0005086382316029117,
+        0.9755423302139631
+      ],
+      "yaw_degrees_local": 154.54541478975176,
+      "yaw_radians": 2.698351177603167,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6214416967874783,
+        8.556530832071665,
+        0.7630926330529242
+      ],
+      "z_min": 0.7406165407690628,
+      "z_max": 0.7630825392168872
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.9807932531751304,
+        8.43029781554014,
+        0.806256784074208
+      ],
+      "rotation_wxyz": [
+        0.8199962574835866,
+        -0.00037957332079564826,
+        0.0003422044862074086,
+        0.5723686543942598
+      ],
+      "yaw_degrees_local": 69.77242991386453,
+      "yaw_radians": 1.2187832043469446,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9807932531751304,
+        8.43029781554014,
+        0.8716125084358495
+      ],
+      "z_min": 0.7409524705917054,
+      "z_max": 0.8716639193149884
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.2479487344728835,
+        8.20998704002207,
+        0.7750849933479227
+      ],
+      "rotation_wxyz": [
+        0.9932453454816134,
+        -0.0004963398735615438,
+        0.00012176430574360972,
+        0.1160319891206495
+      ],
+      "yaw_degrees_local": 13.267595668461269,
+      "yaw_radians": 0.232587747375022,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2479487344728835,
+        8.20998704002207,
+        0.8090835495186015
+      ],
+      "z_min": 0.7410153505342969,
+      "z_max": 0.8090124628756545
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.055802239693999,
+        8.329637494919794,
+        0.8015928470684626
+      ],
+      "rotation_wxyz": [
+        0.9962516360964991,
+        -0.0004997352181360504,
+        0.00010697910073854009,
+        0.08650096181680644
+      ],
+      "yaw_degrees_local": 9.865974060959957,
+      "yaw_radians": 0.17321827500886697,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.055802239693999,
+        8.329637494919794,
+        0.8622197135237222
+      ],
+      "z_min": 0.7409183562663803,
+      "z_max": 0.8621720891768995
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.388105323710666,
+        8.600232091766028,
+        0.817969333433323
+      ],
+      "rotation_wxyz": [
+        0.8676962957615382,
+        -0.000408531434052606,
+        0.0003070535517319965,
+        0.4970944348329492
+      ],
+      "yaw_degrees_local": 59.55720778698449,
+      "yaw_radians": 1.0404938697613757,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.388105323710666,
+        8.600232091766028,
+        0.8953510885666625
+      ],
+      "z_min": 0.7406018160659397,
+      "z_max": 0.8953653263326186
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        4.962827421601689,
+        8.396038438954644,
+        1.002110905524859
+      ],
+      "rotation_wxyz": [
+        -0.678852742261952,
+        0.0,
+        0.0,
+        0.7342744407395835
+      ],
+      "yaw_degrees_local": 175.50811439277243,
+      "yaw_radians": -1.649194520263963,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.962827421601689,
+        8.396038438954644,
+        1.0840469145656777
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.0840720469779694
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.938262656341692,
+        8.857057125645266,
+        0.813170547824067
+      ],
+      "rotation_wxyz": [
+        0.5253212799123244,
+        -0.00032030402208242876,
+        -0.000398227509946427,
+        -0.8509038087183893
+      ],
+      "yaw_degrees_local": -116.67895282664374,
+      "yaw_radians": -2.0354073688454317,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.938262656341692,
+        8.857057125645266,
+        0.8860329924308107
+      ],
+      "z_min": 0.7403983290221905,
+      "z_max": 0.8861232182356779
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.166307436081037,
+        8.67983957501437,
+        0.7461995764433971
+      ],
+      "rotation_wxyz": [
+        0.9097587754644945,
+        -0.00043505403820942183,
+        0.0002681562978525538,
+        0.41513697653368287
+      ],
+      "yaw_degrees_local": 48.9971820955235,
+      "yaw_radians": 0.8561866003333337,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.166307436081037,
+        8.67983957501437,
+        0.7518484276566791
+      ],
+      "z_min": 0.7405491401736102,
+      "z_max": 0.7518468426001744
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.35055914320437,
+        8.813452281600744,
+        0.7460800817194398
+      ],
+      "rotation_wxyz": [
+        0.5903547557235447,
+        -0.00024824532234709847,
+        0.0004467147592962402,
+        0.8071437302084294
+      ],
+      "yaw_degrees_local": 107.57690506543304,
+      "yaw_radians": 1.8785960812586213,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.35055914320437,
+        8.813452281600744,
+        0.751911132744226
+      ],
+      "z_min": 0.7403902809901152,
+      "z_max": 0.7520523830396876
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.628323748868663,
+        8.415972691282073,
+        0.7450784943307969
+      ],
+      "rotation_wxyz": [
+        0.5973864552477128,
+        -0.00025214002332321715,
+        0.00044452809233937077,
+        0.8019533414773932
+      ],
+      "yaw_degrees_local": 106.5753890026212,
+      "yaw_radians": 1.8611163224023775,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.628323748868663,
+        8.415972691282073,
+        0.7492150956909239
+      ],
+      "z_min": 0.7407582237783294,
+      "z_max": 0.7490314264985836
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.657799729937035,
+        8.72617972362147,
+        0.7458033304763875
+      ],
+      "rotation_wxyz": [
+        0.7715751532798155,
+        -0.000431577758148315,
+        -0.00027371601142787955,
+        -0.6361379737615207
+      ],
+      "yaw_degrees_local": -79.06759684366673,
+      "yaw_radians": -1.3789650520989496,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.657799729937035,
+        8.72617972362147,
+        0.7511387711713883
+      ],
+      "z_min": 0.7404398677295774,
+      "z_max": 0.751110749119579
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.4500275538386806,
+        8.262686027263449,
+        0.8274502834042967
+      ],
+      "rotation_wxyz": [
+        0.08759791339534083,
+        1.868471082152851e-05,
+        0.0005107158679949434,
+        0.9961557831930538
+      ],
+      "yaw_degrees_local": 169.89042470423112,
+      "yaw_radians": 2.966171995489335,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4500275538386806,
+        8.262686027263449,
+        0.9138495623625634
+      ],
+      "z_min": 0.7410630263619358,
+      "z_max": 0.9138615842784691
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.600303620255814,
+        8.866846055532939,
+        0.7457183964648487
+      ],
+      "rotation_wxyz": [
+        0.3142595398897215,
+        -0.00021950704017342174,
+        -0.0004615154120445128,
+        -0.9493369688411404
+      ],
+      "yaw_degrees_local": -143.42646808832535,
+      "yaw_radians": -2.50223967345893,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.600303620255814,
+        8.866846055532939,
+        0.7510193870959622
+      ],
+      "z_min": 0.740431185311581,
+      "z_max": 0.751033166573808
+    }
+  ],
+  "variant_index": 5
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0006/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0006/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..db41e4a6819568e2e6869645f5c5f4a9a5018284
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0006/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2558712525920554449
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.140924528, -8.74675799e-06, 0.000510982691, 0.99002021)
+            double3 xformOp:translate = (3.46617136227, 8.34835264869, 0.740847348834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.637623664, -0.00027454718, 0.00043104949, 0.770347844)
+            double3 xformOp:translate = (3.16307662774, 8.82546696914, 0.74040184658)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.494991245, -0.000306063107, -0.00040927398, -0.868897811)
+            double3 xformOp:translate = (3.45770083985, 8.6365675901, 0.755761790249)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.816636965, -0.000450692494, -0.000240948318, -0.577151458)
+            double3 xformOp:translate = (3.61703906365, 8.59964999666, 0.755779044929)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698540696, -0.000399572891, -0.000318624106, -0.715570147)
+            double3 xformOp:translate = (2.82054753513, 8.23849494495, 0.776006692566)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.521941102, -0.000318721495, -0.000399495213, -0.852981374)
+            double3 xformOp:translate = (1.71213159135, 8.61131846289, 0.806107226842)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993345537, -0.00049644522, 0.000121334084, 0.115171104)
+            double3 xformOp:translate = (1.91567922173, 8.59134129076, 0.857636991658)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.362036376, -0.000242647508, -0.000449779949, -0.932163827)
+            double3 xformOp:translate = (1.79631665125, 8.71674826313, 0.808738653281)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.755861092, -0.000341831604, 0.000379909161, 0.654731814)
+            double3 xformOp:translate = (3.14227588684, 8.23893821606, 0.813771615207)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.663172088, -0.00028888937, 0.000421571759, 0.74846678)
+            double3 xformOp:translate = (3.08272303183, 8.86072296543, 0.74631652547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.686298104, 0, 0, 0.727320364)
+            double3 xformOp:translate = (4.97420699685, 8.13796154253, 1.0150735252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.581396011, -0.000243291889, 0.000449431722, 0.813620561)
+            double3 xformOp:translate = (2.56474493651, 8.27184959442, 0.7601170897)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986691919, -0.000510668021, -1.99496421e-05, -0.162600113)
+            double3 xformOp:translate = (2.51852290089, 8.85710584498, 0.746101862315)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.73889457, -0.000417392144, -0.000294895938, -0.673820861)
+            double3 xformOp:translate = (2.0461428318, 8.32318405009, 0.776018916094)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.300103031, -9.17565304e-05, 0.000502752976, 0.953906657)
+            double3 xformOp:translate = (3.63491091879, 8.78505502972, 0.747364058982)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0548412046, -9.10660484e-05, -0.000502878505, -0.998494958)
+            double3 xformOp:translate = (2.855637132, 8.89597070907, 0.752169859391)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.933609506, -0.000450750296, 0.000240840169, 0.358291821)
+            double3 xformOp:translate = (2.24212675756, 8.2185767604, 0.788230332415)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.705230025, -0.000312719233, 0.000404210957, 0.708978385)
+            double3 xformOp:translate = (3.33332290244, 8.86076892883, 0.799342933462)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.695902405, -0.000307408896, 0.000408264114, 0.718136186)
+            double3 xformOp:translate = (3.24336431647, 8.25249779365, 0.746225948227)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0124323214, -6.96502679e-05, -0.000506289104, -0.999922585)
+            double3 xformOp:translate = (1.72558522069, 8.42460871989, 0.801665064183)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990443603, -0.000511006897, -7.19497234e-06, -0.137917398)
+            double3 xformOp:translate = (3.19536602214, 8.40332979679, 0.746515704283)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.760951616, -0.00034478834, 0.000377227805, 0.648808428)
+            double3 xformOp:translate = (3.74441096844, 8.67980079691, 0.813248187002)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.866685129, -0.000471112613, -0.000198072517, -0.498855316)
+            double3 xformOp:translate = (3.23891584256, 8.54154790494, 0.777335767389)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858587154, -0.000402925489, 0.000314373769, 0.512667376)
+            double3 xformOp:translate = (3.45720583613, 8.83654838894, 0.789218933985)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.961789038, -0.00047039375, 0.000199773712, 0.273791135)
+            double3 xformOp:translate = (2.16077276127, 8.2691709923, 0.811264761678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.728270327, -0.000412730983, -0.000301385056, -0.68528977)
+            double3 xformOp:translate = (1.75538170653, 8.29148520703, 0.741121781594)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985842496, -0.00051055865, -2.25761127e-05, -0.167673231)
+            double3 xformOp:translate = (1.95852259558, 8.4212277463, 0.75198451007)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.211024149, -0.000168937648, -0.000482327573, -0.977480715)
+            double3 xformOp:translate = (1.98221451519, 8.70633540638, 0.746322729418)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.870109842, -0.000410023789, 0.000305057878, 0.492857587)
+            double3 xformOp:translate = (2.10204070986, 8.9079673297, 0.740452606499)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.373236447, -0.000248046745, -0.000446825054, -0.927736112)
+            double3 xformOp:translate = (3.74093248997, 8.51403301048, 0.746334301638)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0006/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0006/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc44b8ef45c29e77a58073464baa360407315b3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0006/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2558712525920554449,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "electronics": 3,
+    "drinkware": 7,
+    "small object": 7,
+    "clock": 4,
+    "office_supply": 2,
+    "small_prop": 1,
+    "writing_instrument": 3,
+    "office_supplies": 2,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 162,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.466171362271447,
+        8.34835264868657,
+        0.7408473488336894
+      ],
+      "rotation_wxyz": [
+        0.14092452752993806,
+        -8.746757990954035e-06,
+        0.0005109826909641464,
+        0.990020210076869
+      ],
+      "yaw_degrees_local": 163.73859106785858,
+      "yaw_radians": 2.8588022982518932,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.466171362271447,
+        8.34835264868657,
+        0.9183473434692714
+      ],
+      "z_min": 0.7408473488336894,
+      "z_max": 1.0958473381048535
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.163076627743537,
+        8.825466969136787,
+        0.7404018465800586
+      ],
+      "rotation_wxyz": [
+        0.6376236644633829,
+        -0.0002745471795750584,
+        0.0004310494895341987,
+        0.7703478443771172
+      ],
+      "yaw_degrees_local": 100.71157817177789,
+      "yaw_radians": 1.7587734768110037,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.163076627743537,
+        8.825466969136787,
+        0.7904019404573741
+      ],
+      "z_min": 0.7404018465800586,
+      "z_max": 0.8404020343346896
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.457700839851957,
+        8.636567590101796,
+        0.7557617902492858
+      ],
+      "rotation_wxyz": [
+        0.4949912454124319,
+        -0.0003060631074550402,
+        -0.0004092739797437374,
+        -0.8688978108990916
+      ],
+      "yaw_degrees_local": -120.72035579090208,
+      "yaw_radians": -2.105943183878266,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.457700839851957,
+        8.636567590101796,
+        0.7709302672018172
+      ],
+      "z_min": 0.7405561131336225,
+      "z_max": 0.7708930670386853
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.6170390636494316,
+        8.599649996660073,
+        0.7557790449289855
+      ],
+      "rotation_wxyz": [
+        0.8166369651084442,
+        -0.0004506924941325729,
+        -0.00024094831805363028,
+        -0.5771514584913167
+      ],
+      "yaw_degrees_local": -70.55960059035843,
+      "yaw_radians": -1.2304724498295023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6170390636494316,
+        8.599649996660073,
+        0.7709475218815169
+      ],
+      "z_min": 0.7405733678133222,
+      "z_max": 0.770910321718385
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.820547535125638,
+        8.238494944946646,
+        0.7760066925658431
+      ],
+      "rotation_wxyz": [
+        0.6985406960832555,
+        -0.00039957289088358007,
+        -0.00031862410629337383,
+        -0.7155701466213532
+      ],
+      "yaw_degrees_local": -91.43861424448474,
+      "yaw_radians": -1.594880139917334,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.820547535125638,
+        8.238494944946646,
+        0.8111197669090284
+      ],
+      "z_min": 0.7410405895789122,
+      "z_max": 0.811266738265283
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.7121315913458066,
+        8.611318462891788,
+        0.806107226842461
+      ],
+      "rotation_wxyz": [
+        0.521941101652313,
+        -0.0003187214946729423,
+        -0.00039949521282958857,
+        -0.8529813744895921
+      ],
+      "yaw_degrees_local": -117.13360715698914,
+      "yaw_radians": -2.043342587068915,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7121315913458066,
+        8.611318462891788,
+        0.8714629512041026
+      ],
+      "z_min": 0.7408029133599585,
+      "z_max": 0.8715143620832415
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        1.9156792217290781,
+        8.59134129076044,
+        0.8576369916581408
+      ],
+      "rotation_wxyz": [
+        0.9933455368502233,
+        -0.0004964452197317458,
+        0.00012133408443554204,
+        0.11517110418818444
+      ],
+      "yaw_degrees_local": 13.168279658048164,
+      "yaw_radians": 0.23085435667884718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9156792217290781,
+        8.59134129076044,
+        0.9744958103341133
+      ],
+      "z_min": 0.7407974120578762,
+      "z_max": 0.974515049409821
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.7963166512498114,
+        8.71674826312795,
+        0.8087386532809807
+      ],
+      "rotation_wxyz": [
+        0.36203637627089086,
+        -0.00024264750839305145,
+        -0.00044977994943189343,
+        -0.9321638273805876
+      ],
+      "yaw_degrees_local": -137.60808532922522,
+      "yaw_radians": -2.400689734100741,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7963166512498114,
+        8.71674826312795,
+        0.8767939968345666
+      ],
+      "z_min": 0.7406853181586712,
+      "z_max": 0.8767960052658429
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.1422758868444873,
+        8.238938216060989,
+        0.8137716152067278
+      ],
+      "rotation_wxyz": [
+        0.7558610923107804,
+        -0.00034183160425681387,
+        0.00037990916094709484,
+        0.6547318137611293
+      ],
+      "yaw_degrees_local": 81.7399381070706,
+      "yaw_radians": 1.4276557306161386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1422758868444873,
+        8.238938216060989,
+        0.8866340598134715
+      ],
+      "z_min": 0.7409993964048514,
+      "z_max": 0.8867242856183387
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.0827230318309398,
+        8.860722965432917,
+        0.7463165254700608
+      ],
+      "rotation_wxyz": [
+        0.6631720878186651,
+        -0.00028888937003970723,
+        0.00042157175915658024,
+        0.7484667799965585
+      ],
+      "yaw_degrees_local": 96.85678571391833,
+      "yaw_radians": 1.691494626635558,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0827230318309398,
+        8.860722965432917,
+        0.7521337382366331
+      ],
+      "z_min": 0.7403762728077511,
+      "z_max": 0.7520106983408957
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        4.974206996854821,
+        8.137961542534622,
+        1.0150735251987464
+      ],
+      "rotation_wxyz": [
+        0.6862981041879935,
+        0.0,
+        0.0,
+        0.7273203642054621
+      ],
+      "yaw_degrees_local": 3.324437216998888,
+      "yaw_radians": 1.6288187020073643,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.974206996854821,
+        8.137961542534622,
+        1.10997037126295
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.1099937210247388
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16224576342244285,
+        0.24102301097507128,
+        0.03758840135605822
+      ],
+      "bbox_min_m": [
+        -0.08114587301735716,
+        -0.12032177935879133,
+        -0.01907792730343724
+      ],
+      "bbox_max_m": [
+        0.08109989040508565,
+        0.12070123161627995,
+        0.018510474052620973
+      ],
+      "translation_world": [
+        2.5647449365147046,
+        8.271849594419718,
+        0.7601170897000922
+      ],
+      "rotation_wxyz": [
+        0.5813960107191332,
+        -0.00024329188904557555,
+        0.00044943172225038583,
+        0.8136205611586163
+      ],
+      "yaw_degrees_local": 108.84369766126332,
+      "yaw_radians": 1.9007057902978135,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5647449365147046,
+        8.271849594419718,
+        0.7789112903781212
+      ],
+      "z_min": 0.7410391623966549,
+      "z_max": 0.7786275637527131
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.5185229008875485,
+        8.85710584497578,
+        0.7461018623148361
+      ],
+      "rotation_wxyz": [
+        0.9866919185958302,
+        -0.0005106680213416498,
+        -1.9949642084932432e-05,
+        -0.16260011253951737
+      ],
+      "yaw_degrees_local": -18.774409683842947,
+      "yaw_radians": -0.32665047113207146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5185229008875485,
+        8.85710584497578,
+        0.7517507135281182
+      ],
+      "z_min": 0.7404514260450492,
+      "z_max": 0.7517491284716135
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.046142831795669,
+        8.323184050089672,
+        0.7760189160939014
+      ],
+      "rotation_wxyz": [
+        0.7388945702135966,
+        -0.00041739214441942465,
+        -0.00029489593760726303,
+        -0.6738208611560259
+      ],
+      "yaw_degrees_local": -84.78402428741927,
+      "yaw_radians": -1.4787355772707755,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.046142831795669,
+        8.323184050089672,
+        0.8111319904370867
+      ],
+      "z_min": 0.7410528131069705,
+      "z_max": 0.8112789617933412
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.6349109187945507,
+        8.785055029718402,
+        0.7473640589815181
+      ],
+      "rotation_wxyz": [
+        0.3001030313647534,
+        -9.175653042627218e-05,
+        0.0005027529764849186,
+        0.9539066565371424
+      ],
+      "yaw_degrees_local": 145.01370181433754,
+      "yaw_radians": 2.5319914628254216,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6349109187945507,
+        8.785055029718402,
+        0.7543473397903587
+      ],
+      "z_min": 0.7403830553826363,
+      "z_max": 0.7543496170003176
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.8556371319953087,
+        8.895970709065118,
+        0.7521698593905587
+      ],
+      "rotation_wxyz": [
+        0.05484120464698827,
+        -9.106604836739521e-05,
+        -0.000502878505282399,
+        -0.9984949579707708
+      ],
+      "yaw_degrees_local": -173.77121610155126,
+      "yaw_radians": -3.0318552938719288,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8556371319953087,
+        8.895970709065118,
+        0.7640411299371285
+      ],
+      "z_min": 0.7403692985111093,
+      "z_max": 0.7641118396042488
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.2421267575602584,
+        8.218576760399449,
+        0.7882303324153006
+      ],
+      "rotation_wxyz": [
+        0.9336095060795225,
+        -0.00045075029578143855,
+        0.00024084016918541278,
+        0.35829182097577106
+      ],
+      "yaw_degrees_local": 41.93195113146186,
+      "yaw_radians": 0.7328750406558754,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2421267575602584,
+        8.218576760399449,
+        0.8353360831019331
+      ],
+      "z_min": 0.741134084139486,
+      "z_max": 0.835345585512751
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.3333229024443547,
+        8.860768928827904,
+        0.7993429334619849
+      ],
+      "rotation_wxyz": [
+        0.70523002547314,
+        -0.00031271923262034284,
+        0.00040421095703809976,
+        0.7089783847137643
+      ],
+      "yaw_degrees_local": 90.24501378449918,
+      "yaw_radians": 1.5760973811009864,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3333229024443547,
+        8.860768928827904,
+        0.8584692114945051
+      ],
+      "z_min": 0.7403445026212788,
+      "z_max": 0.8585970586863191
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.243364316466502,
+        8.252497793645798,
+        0.7462259482274844
+      ],
+      "rotation_wxyz": [
+        0.6959024047269576,
+        -0.0003074088956039346,
+        0.00040826411444539406,
+        0.7181361861899326
+      ],
+      "yaw_degrees_local": 91.74293329997829,
+      "yaw_radians": 1.6022410216788194,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.243364316466502,
+        8.252497793645798,
+        0.751461863545618
+      ],
+      "z_min": 0.7409728005584033,
+      "z_max": 0.7514446311946703
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.725585220688063,
+        8.424608719886571,
+        0.8016650641828814
+      ],
+      "rotation_wxyz": [
+        0.012432321395363502,
+        -6.965026793934787e-05,
+        -0.000506289103592295,
+        -0.9999225851059204
+      ],
+      "yaw_degrees_local": -178.6340344403203,
+      "yaw_radians": -3.116727443740111,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.725585220688063,
+        8.424608719886571,
+        0.862291930638141
+      ],
+      "z_min": 0.7409905733807991,
+      "z_max": 0.8622443062913183
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.1953660221381797,
+        8.403329796792576,
+        0.7465157042825179
+      ],
+      "rotation_wxyz": [
+        0.9904436027455108,
+        -0.0005110068968354133,
+        -7.194972338648073e-06,
+        -0.13791739774472572
+      ],
+      "yaw_degrees_local": -15.91341830163475,
+      "yaw_radians": -0.27671677608989753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1953660221381797,
+        8.403329796792576,
+        0.7523467553073041
+      ],
+      "z_min": 0.7408259035531932,
+      "z_max": 0.7524880056027656
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.7444109684400795,
+        8.679800796908639,
+        0.8132481870019507
+      ],
+      "rotation_wxyz": [
+        0.760951616304307,
+        -0.00034478833989709024,
+        0.0003772278050612404,
+        0.6488084281697077
+      ],
+      "yaw_degrees_local": 80.84494753196964,
+      "yaw_radians": 1.4120351901587067,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7444109684400795,
+        8.679800796908639,
+        0.8861106316086944
+      ],
+      "z_min": 0.7404759682000742,
+      "z_max": 0.8862008574135616
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.2389158425617017,
+        8.541547904935708,
+        0.7773357673889277
+      ],
+      "rotation_wxyz": [
+        0.866685128640212,
+        -0.0004711126132663925,
+        -0.000198072516674129,
+        -0.49885531631334085
+      ],
+      "yaw_degrees_local": -59.90731341090937,
+      "yaw_radians": -1.0445549231885112,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2389158425617017,
+        8.541547904935708,
+        0.8139459804581064
+      ],
+      "z_min": 0.740680216664643,
+      "z_max": 0.8139006428030003
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.4572058361284927,
+        8.836548388944058,
+        0.7892189339850009
+      ],
+      "rotation_wxyz": [
+        0.8585871538888318,
+        -0.00040292548859774494,
+        0.0003143737693869848,
+        0.5126673755928491
+      ],
+      "yaw_degrees_local": 61.62463090317161,
+      "yaw_radians": 1.0765772236208178,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4572058361284927,
+        8.836548388944058,
+        0.83808639849095
+      ],
+      "z_min": 0.7403533664726827,
+      "z_max": 0.8380882954845811
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.1607727612749668,
+        8.269170992303705,
+        0.8112647616778751
+      ],
+      "rotation_wxyz": [
+        0.9617890377387014,
+        -0.0004703937503098569,
+        0.00019977371175843085,
+        0.27379113518491904
+      ],
+      "yaw_degrees_local": 31.72126717480438,
+      "yaw_radians": 0.55466498994389,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1607727612749668,
+        8.269170992303705,
+        0.881441127909794
+      ],
+      "z_min": 0.741093089537655,
+      "z_max": 0.8814458220014927
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.755381706531068,
+        8.291485207032533,
+        0.7411217815941029
+      ],
+      "rotation_wxyz": [
+        0.7282703274039574,
+        -0.000412730982986327,
+        -0.0003013850559059836,
+        -0.6852897701287513
+      ],
+      "yaw_degrees_local": -86.5755248790098,
+      "yaw_radians": -1.5100031761776338,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.755381706531068,
+        8.291485207032533,
+        0.763618793307886
+      ],
+      "z_min": 0.7411217845890374,
+      "z_max": 0.7861158080166035
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        1.9585225955846224,
+        8.421227746302666,
+        0.7519845100701265
+      ],
+      "rotation_wxyz": [
+        0.9858424957814359,
+        -0.0005105586502796296,
+        -2.2576112706917796e-05,
+        -0.1676732308140255
+      ],
+      "yaw_degrees_local": -19.363839451158128,
+      "yaw_radians": -0.3369379563635123,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9585225955846224,
+        8.421227746302666,
+        0.7628639302732627
+      ],
+      "z_min": 0.7409644631091219,
+      "z_max": 0.7627233035153944
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.9822145151921826,
+        8.70633540637731,
+        0.7463227294184162
+      ],
+      "rotation_wxyz": [
+        0.2110241490722562,
+        -0.00016893764783295896,
+        -0.000482327572698244,
+        -0.9774807145557984
+      ],
+      "yaw_degrees_local": -155.69395370712058,
+      "yaw_radians": -2.7163476601681613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9822145151921826,
+        8.70633540637731,
+        0.7519715806316982
+      ],
+      "z_min": 0.7406722931486293,
+      "z_max": 0.7519699955751935
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.1020407098592013,
+        8.907967329698685,
+        0.7404526064993295
+      ],
+      "rotation_wxyz": [
+        0.8701098424371213,
+        -0.000410023788706146,
+        0.00030505787800902694,
+        0.49285758684860675
+      ],
+      "yaw_degrees_local": 58.99845034764368,
+      "yaw_radians": 1.0307417092562967,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1020407098592013,
+        8.907967329698685,
+        0.7904527003766451
+      ],
+      "z_min": 0.7404526064993295,
+      "z_max": 0.8404527942539606
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.740932489967243,
+        8.51403301048235,
+        0.7463343016383192
+      ],
+      "rotation_wxyz": [
+        0.37323644738360673,
+        -0.0002480467449770342,
+        -0.00044682505362458224,
+        -0.9277361118144795
+      ],
+      "yaw_degrees_local": -136.22799162672976,
+      "yaw_radians": -2.376602552708559,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.740932489967243,
+        8.51403301048235,
+        0.7521653526631054
+      ],
+      "z_min": 0.7406445009089945,
+      "z_max": 0.7523066029585669
+    }
+  ],
+  "variant_index": 6
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0009/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0009/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..087eec9c102883b5e6dca3f071723e1a3bd94767
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0009/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3930782173268865453
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.247256196, -6.40040528e-05, 0.000507033823, 0.968950005)
+            double3 xformOp:translate = (3.37651928962, 8.28056603911, 0.740927456217)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998287741, -0.000502542136, 9.29043477e-05, 0.0584920987)
+            double3 xformOp:translate = (1.95285670494, 8.20942176298, 0.741179992676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.633519415, -0.000272251801, 0.000432502917, 0.773726625)
+            double3 xformOp:translate = (2.54703354179, 8.32079861709, 0.801666273307)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.703285743, -0.000311611071, 0.000405065867, 0.710907098)
+            double3 xformOp:translate = (3.51071139878, 8.37125607375, 0.754264223065)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987081158, -0.000490414566, 0.000143782371, 0.160220245)
+            double3 xformOp:translate = (1.90360545999, 8.46063625043, 0.745251718852)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.149904789, -0.000138653812, -0.000491889151, -0.988700305)
+            double3 xformOp:translate = (3.31658437728, 8.85985877116, 0.745634729619)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.827956491, -0.000384343463, 0.000336838119, 0.560792107)
+            double3 xformOp:translate = (3.23572670652, 8.22203783127, 0.822915578398)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996439321, -0.000499969104, 0.000105880648, 0.0843114372)
+            double3 xformOp:translate = (3.24642384162, 8.45002027864, 0.80882544718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.945608195, -0.000500141402, -0.000105063761, -0.325307363)
+            double3 xformOp:translate = (3.1345675315, 8.32606067039, 0.752719357513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99729987, -0.000501094526, 0.000100419582, 0.073435064)
+            double3 xformOp:translate = (2.24972260229, 8.33931579948, 0.780367733791)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.64449774, -0.000278396879, 0.000428573207, 0.764606043)
+            double3 xformOp:translate = (3.74695428435, 8.311309472, 0.818384135484)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985288194, -0.000488828737, 0.000149084814, 0.170900305)
+            double3 xformOp:translate = (2.87220766647, 8.26737542639, 0.747985741649)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.682218867, -0.000392282686, -0.000327557797, -0.731147835)
+            double3 xformOp:translate = (3.67231272815, 8.74912603201, 0.787511026107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.608514585, -0.000358858806, -0.000363868346, -0.793542525)
+            double3 xformOp:translate = (2.09938856343, 8.33262720759, 0.746323684909)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.608698092, -0.000258418081, 0.000440908053, 0.793401772)
+            double3 xformOp:translate = (1.85297827744, 8.69840341738, 0.757474292326)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.756759368, -0.000342352921, 0.000379439446, 0.653693351)
+            double3 xformOp:translate = (2.19265281092, 8.87481139046, 0.775440874917)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997204425, -0.000510431826, 2.52817519e-05, -0.0747199731)
+            double3 xformOp:translate = (2.27911206299, 8.82885035198, 0.808563785016)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.526684632, -0.000213238379, 0.000464445056, 0.850060608)
+            double3 xformOp:translate = (3.68824929173, 8.5948000628, 0.750590954098)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.975288242, -0.000480587833, 0.000173825059, 0.220935699)
+            double3 xformOp:translate = (3.00799754071, 8.21579372413, 0.788563673678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.830747216, -0.000386021112, 0.000334914194, 0.556649623)
+            double3 xformOp:translate = (3.26921600705, 8.5780222768, 0.788219192937)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.735675995, -0.000330163595, 0.000390092062, 0.677333425)
+            double3 xformOp:translate = (3.46560646429, 8.84675456832, 0.811624502248)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0557642825, -9.15309169e-05, -0.0005027941, -0.998443831)
+            double3 xformOp:translate = (2.63934970939, 8.81479130031, 0.746168834676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.262998705, -0.000194491194, -0.000472602361, -0.964796051)
+            double3 xformOp:translate = (3.61136148106, 8.87443984851, 0.817662936298)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.625948667, -0.000268023743, 0.000435135714, 0.779864094)
+            double3 xformOp:translate = (1.78120462127, 8.25685012343, 0.823064560229)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.631699996, -0.000271234997, 0.000433141308, 0.775212779)
+            double3 xformOp:translate = (3.6093078187, 8.5441615628, 0.857470258216)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.195606138, 0, 0, 0.980682537)
+            double3 xformOp:translate = (4.95699356976, 8.18138310521, 0.92974955814)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.680336103, -0.000391438912, -0.000328565662, -0.732900079)
+            double3 xformOp:translate = (3.41922176406, 8.50275162202, 0.745066362621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.61321265, -0.000361011636, -0.000361732519, -0.789917708)
+            double3 xformOp:translate = (2.37618813501, 8.18660262571, 0.747807929752)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00306535614, -6.49047288e-05, -0.000506919315, -0.999995171)
+            double3 xformOp:translate = (1.77968500942, 8.85509474877, 0.751790173334)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.899919537, -0.000428739191, 0.000278141191, 0.436055691)
+            double3 xformOp:translate = (3.50561663596, 8.71293744943, 0.821662308341)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0009/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0009/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f6b84fa2e12329957c22d5a03c2b165c4af779
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0009/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3930782173268865453,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small object": 3,
+    "electronics": 6,
+    "office_supply": 3,
+    "office_supplies": 3,
+    "book": 2,
+    "clock": 4,
+    "paper goods": 1,
+    "paper_goods": 1
+  },
+  "failed_sampling_attempt_count": 158,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.3765192896183702,
+        8.280566039111688,
+        0.7409274562174322
+      ],
+      "rotation_wxyz": [
+        0.24725619616514397,
+        -6.400405275325912e-05,
+        0.0005070338228081739,
+        0.9689500050457339
+      ],
+      "yaw_degrees_local": 151.31087134471164,
+      "yaw_radians": 2.64189776733726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3765192896183702,
+        8.280566039111688,
+        0.7634244679312152
+      ],
+      "z_min": 0.7409274592123667,
+      "z_max": 0.7859214826399328
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.9528567049373429,
+        8.20942176297854,
+        0.7411799926760965
+      ],
+      "rotation_wxyz": [
+        0.9982877406907651,
+        -0.0005025421359721475,
+        9.290434765318687e-05,
+        0.05849209866906688
+      ],
+      "yaw_degrees_local": 6.647819151424272,
+      "yaw_radians": 0.11705090116748644,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9528567049373429,
+        8.20942176297854,
+        0.7636770043898795
+      ],
+      "z_min": 0.741179995671031,
+      "z_max": 0.7861740190985971
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.5470335417949026,
+        8.320798617090386,
+        0.8016662733068256
+      ],
+      "rotation_wxyz": [
+        0.6335194145854413,
+        -0.0002722518013870656,
+        0.0004325029166165361,
+        0.7737266249545145
+      ],
+      "yaw_degrees_local": 101.32076029849304,
+      "yaw_radians": 1.7694057151371716,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5470335417949026,
+        8.320798617090386,
+        0.8622931397620852
+      ],
+      "z_min": 0.7409917825047433,
+      "z_max": 0.8622455154152625
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        3.510711398777663,
+        8.371256073749716,
+        0.7542642230648746
+      ],
+      "rotation_wxyz": [
+        0.7032857432158256,
+        -0.00031161107101904757,
+        0.0004050658670619812,
+        0.7109070981566775
+      ],
+      "yaw_degrees_local": 90.55883936901029,
+      "yaw_radians": 1.5815746735892002,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.510711398777663,
+        8.371256073749716,
+        0.7678089724374718
+      ],
+      "z_min": 0.7408184831940048,
+      "z_max": 0.7679079819391992
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.9036054599936134,
+        8.460636250432016,
+        0.745251718851554
+      ],
+      "rotation_wxyz": [
+        0.9870811577745832,
+        -0.0004904145656085855,
+        0.00014378237054401037,
+        0.1602202446214976
+      ],
+      "yaw_degrees_local": 18.38065247604473,
+      "yaw_radians": 0.3218273911742876,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9036054599936134,
+        8.460636250432016,
+        0.749388320211681
+      ],
+      "z_min": 0.7409314482990865,
+      "z_max": 0.7492046510193406
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.3165843772808534,
+        8.859858771161,
+        0.7456347296190435
+      ],
+      "rotation_wxyz": [
+        0.1499047888737108,
+        -0.00013865381219496813,
+        -0.0004918891507282053,
+        -0.9887003049928286
+      ],
+      "yaw_degrees_local": -162.81589019660967,
+      "yaw_radians": -2.84064886467129,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3165843772808534,
+        8.859858771161,
+        0.750935720250157
+      ],
+      "z_min": 0.7403475184657758,
+      "z_max": 0.7509494997280028
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.235726706517335,
+        8.22203783126543,
+        0.8229155783975602
+      ],
+      "rotation_wxyz": [
+        0.8279564912836433,
+        -0.00038434346293724587,
+        0.00033683811948429843,
+        0.5607921070784273
+      ],
+      "yaw_degrees_local": 68.16248959794177,
+      "yaw_radians": 1.1906844320804442,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.235726706517335,
+        8.22203783126543,
+        0.9048515874383791
+      ],
+      "z_min": 0.7410047017690331,
+      "z_max": 0.9048767198506706
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.2464238416234252,
+        8.45002027863639,
+        0.8088254471797147
+      ],
+      "rotation_wxyz": [
+        0.9964393209737156,
+        -0.0004999691037087863,
+        0.0001058806477924341,
+        0.08431143716972556
+      ],
+      "yaw_degrees_local": 9.614152833013833,
+      "yaw_radians": 0.1688231673617155,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2464238416234252,
+        8.45002027863639,
+        0.8768807907333006
+      ],
+      "z_min": 0.7407721120574051,
+      "z_max": 0.8768827991645769
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.1345675314998283,
+        8.326060670391406,
+        0.752719357513367
+      ],
+      "rotation_wxyz": [
+        0.9456081949843451,
+        -0.0005001414023287141,
+        -0.00010506376119756935,
+        -0.3253073629640634
+      ],
+      "yaw_degrees_local": -38.027110598421416,
+      "yaw_radians": -0.6626733648880254,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1345675314998283,
+        8.326060670391406,
+        0.7644066824660337
+      ],
+      "z_min": 0.740911978819968,
+      "z_max": 0.7642866287253013
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.249722602292257,
+        8.339315799483977,
+        0.780367733790719
+      ],
+      "rotation_wxyz": [
+        0.9972998697448485,
+        -0.0005010945258740878,
+        0.00010041958165286203,
+        0.07343506401639485
+      ],
+      "yaw_degrees_local": 8.363910877039473,
+      "yaw_radians": 0.14700233841327578,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.249722602292257,
+        8.339315799483977,
+        0.8196078086306102
+      ],
+      "z_min": 0.7410106602763085,
+      "z_max": 0.8194908099560909
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        3.746954284346682,
+        8.311309472002435,
+        0.8183841354835051
+      ],
+      "rotation_wxyz": [
+        0.644497740325878,
+        -0.00027839687934568235,
+        0.0004285732070614053,
+        0.7646060433550216
+      ],
+      "yaw_degrees_local": 99.68522055898927,
+      "yaw_radians": 1.7408601494775509,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.746954284346682,
+        8.311309472002435,
+        0.8960909693169375
+      ],
+      "z_min": 0.7408493842056593,
+      "z_max": 0.8962630518725242
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        2.872207666469608,
+        8.267375426387623,
+        0.7479857416494025
+      ],
+      "rotation_wxyz": [
+        0.9852881937446495,
+        -0.0004888287373386516,
+        0.0001490848140898737,
+        0.17090030452749352
+      ],
+      "yaw_degrees_local": 19.62162973332741,
+      "yaw_radians": 0.34348652334759083,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.872207666469608,
+        8.267375426387623,
+        0.754969022458243
+      ],
+      "z_min": 0.7410047380505207,
+      "z_max": 0.7549712996682019
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.6723127281454895,
+        8.749126032008972,
+        0.7875110261074737
+      ],
+      "rotation_wxyz": [
+        0.6822188667979492,
+        -0.0003922826858448996,
+        -0.0003275577973833388,
+        -0.7311478349862675
+      ],
+      "yaw_degrees_local": -94.02414167908377,
+      "yaw_radians": -1.6400061298322646,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6723127281454895,
+        8.749126032008972,
+        0.8346167767941062
+      ],
+      "z_min": 0.7404147778316591,
+      "z_max": 0.834626279204924
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.099388563433134,
+        8.332627207592976,
+        0.7463236849091233
+      ],
+      "rotation_wxyz": [
+        0.6085145851353765,
+        -0.0003588588060852464,
+        -0.00036386834643231073,
+        -0.7935425246939855
+      ],
+      "yaw_degrees_local": -105.09434869485979,
+      "yaw_radians": -1.8332177910882497,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.099388563433134,
+        8.332627207592976,
+        0.7516246755402367
+      ],
+      "z_min": 0.7410364737558556,
+      "z_max": 0.7516384550180826
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.8529782774362327,
+        8.698403417376486,
+        0.7574742923262495
+      ],
+      "rotation_wxyz": [
+        0.6086980920312168,
+        -0.0002584180814122607,
+        0.00044090805327133553,
+        0.7934017718519039
+      ],
+      "yaw_degrees_local": 104.95042618108278,
+      "yaw_radians": 1.832755360632875,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8529782774362327,
+        8.698403417376486,
+        0.7744253075186549
+      ],
+      "z_min": 0.7406967182155972,
+      "z_max": 0.7745987486004081
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.192652810923766,
+        8.874811390461812,
+        0.7754408749168676
+      ],
+      "rotation_wxyz": [
+        0.756759368208148,
+        -0.00034235292146305146,
+        0.00037943944629680547,
+        0.6536933512354157
+      ],
+      "yaw_degrees_local": 81.58259656076473,
+      "yaw_radians": 1.424909601149631,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.192652810923766,
+        8.874811390461812,
+        0.810553949260053
+      ],
+      "z_min": 0.7404747719299367,
+      "z_max": 0.8107009206163075
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.279112062992865,
+        8.828850351978321,
+        0.8085637850157178
+      ],
+      "rotation_wxyz": [
+        0.9972044246028036,
+        -0.0005104318262641508,
+        2.528175185694847e-05,
+        -0.07471997305122256
+      ],
+      "yaw_degrees_local": -8.628977132582207,
+      "yaw_radians": -0.14957935871141298,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.279112062992865,
+        8.828850351978321,
+        0.8766191285693037
+      ],
+      "z_min": 0.7405104498934083,
+      "z_max": 0.87662113700058
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.688249291727594,
+        8.594800062804223,
+        0.7505909540982106
+      ],
+      "rotation_wxyz": [
+        0.5266846319005666,
+        -0.00021323837907784174,
+        0.00046444505587697586,
+        0.8500606080391848
+      ],
+      "yaw_degrees_local": 116.37783784984958,
+      "yaw_radians": 2.032201377574106,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.688249291727594,
+        8.594800062804223,
+        0.7606283050790293
+      ],
+      "z_min": 0.7405692616487085,
+      "z_max": 0.7606439636103459
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.0079975407093973,
+        8.215793724131698,
+        0.7885636736782956
+      ],
+      "rotation_wxyz": [
+        0.975288242407081,
+        -0.0004805878330187177,
+        0.00017382505859249892,
+        0.22093569888700842
+      ],
+      "yaw_degrees_local": 25.469287021770327,
+      "yaw_radians": 0.4455473695077279,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0079975407093973,
+        8.215793724131698,
+        0.8360871508785394
+      ],
+      "z_min": 0.741039870321438,
+      "z_max": 0.8360868247219256
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.269216007049475,
+        8.578022276798269,
+        0.7882191929369522
+      ],
+      "rotation_wxyz": [
+        0.8307472155761213,
+        -0.0003860211123826333,
+        0.000334914193540953,
+        0.5566496228622682
+      ],
+      "yaw_degrees_local": 67.59012367664519,
+      "yaw_radians": 1.1806947577035232,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.269216007049475,
+        8.578022276798269,
+        0.8356181183650526
+      ],
+      "z_min": 0.7406393898246525,
+      "z_max": 0.8354372406808535
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        3.46560646429221,
+        8.84675456831739,
+        0.8116245022480919
+      ],
+      "rotation_wxyz": [
+        0.7356759954683965,
+        -0.0003301635952153368,
+        0.0003900920617428607,
+        0.6773334249184576
+      ],
+      "yaw_degrees_local": 85.21253784600486,
+      "yaw_radians": 1.4882640612961173,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.46560646429221,
+        8.84675456831739,
+        0.88310274897816
+      ],
+      "z_min": 0.7403419623778813,
+      "z_max": 0.8832984558380172
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.6393497093927274,
+        8.814791300307656,
+        0.7461688346756958
+      ],
+      "rotation_wxyz": [
+        0.05576428246010878,
+        -9.153091693261436e-05,
+        -0.000502794100488249,
+        -0.9984438309799372
+      ],
+      "yaw_degrees_local": -173.66527703245274,
+      "yaw_radians": -3.0300063091708207,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6393497093927274,
+        8.814791300307656,
+        0.751999885700482
+      ],
+      "z_min": 0.7404790339463712,
+      "z_max": 0.7521411359959436
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.6113614810567722,
+        8.874439848507684,
+        0.8176629362978738
+      ],
+      "rotation_wxyz": [
+        0.2629987053951888,
+        -0.00019449119432233576,
+        -0.00047260236094563056,
+        -0.9647960508732604
+      ],
+      "yaw_degrees_local": -149.56256755065039,
+      "yaw_radians": -2.6093348039278434,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6113614810567722,
+        8.874439848507684,
+        0.8950446914312132
+      ],
+      "z_min": 0.7402954189304904,
+      "z_max": 0.8950589291971693
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        1.7812046212715698,
+        8.256850123434036,
+        0.8230645602285456
+      ],
+      "rotation_wxyz": [
+        0.6259486673331413,
+        -0.00026802374267134287,
+        0.0004351357140074329,
+        0.779864093726624
+      ],
+      "yaw_degrees_local": 102.437575497225,
+      "yaw_radians": 1.7888978255014607,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7812046212715698,
+        8.256850123434036,
+        0.9050005692693645
+      ],
+      "z_min": 0.7411536836000183,
+      "z_max": 0.9050257016816561
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.609307818698008,
+        8.544161562795708,
+        0.8574702582155573
+      ],
+      "rotation_wxyz": [
+        0.631699996367795,
+        -0.00027123499668311963,
+        0.0004331413081369874,
+        0.7752127794413041
+      ],
+      "yaw_degrees_local": 101.58996369483248,
+      "yaw_radians": 1.7741042027139609,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.609307818698008,
+        8.544161562795708,
+        0.9743290768915298
+      ],
+      "z_min": 0.7406306786152927,
+      "z_max": 0.9743483159672376
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        4.956993569761131,
+        8.181383105213722,
+        0.9297495581403308
+      ],
+      "rotation_wxyz": [
+        0.19560613750267014,
+        0.0,
+        0.0,
+        0.9806825373031207
+      ],
+      "yaw_degrees_local": 67.43973074768135,
+      "yaw_radians": 2.7478416750003936,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.956993569761131,
+        8.181383105213722,
+        0.9392533910625352
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9392076947407405
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        3.4192217640552123,
+        8.502751622021227,
+        0.7450663626208637
+      ],
+      "rotation_wxyz": [
+        0.6803361031413927,
+        -0.0003914389119544109,
+        -0.0003285656623085553,
+        -0.7329000788528871
+      ],
+      "yaw_degrees_local": -94.31887069950548,
+      "yaw_radians": -1.6451501243120066,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4192217640552123,
+        8.502751622021227,
+        0.7494903920894174
+      ],
+      "z_min": 0.7406967032760113,
+      "z_max": 0.7495447622131187
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.3761881350088188,
+        8.18660262571174,
+        0.7478079297520607
+      ],
+      "rotation_wxyz": [
+        0.6132126498541056,
+        -0.0003610116355379524,
+        -0.0003617325189232028,
+        -0.789917707662697
+      ],
+      "yaw_degrees_local": -104.4143733221481,
+      "yaw_radians": -1.8213499760182825,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3761881350088188,
+        8.18660262571174,
+        0.7544207340355484
+      ],
+      "z_min": 0.7411495064859044,
+      "z_max": 0.7543751150528799
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        1.7796850094239616,
+        8.85509474876911,
+        0.7517901733335172
+      ],
+      "rotation_wxyz": [
+        0.003065356138287834,
+        -6.490472876410333e-05,
+        -0.0005069193154974179,
+        -0.999995171194306
+      ],
+      "yaw_degrees_local": -179.7074458844299,
+      "yaw_radians": -3.135461998262695,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7796850094239616,
+        8.85509474876911,
+        0.7630231725574294
+      ],
+      "z_min": 0.740547080273568,
+      "z_max": 0.7630130787213923
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.505616635964687,
+        8.71293744943366,
+        0.8216623083411418
+      ],
+      "rotation_wxyz": [
+        0.8999195368239529,
+        -0.0004287391913336668,
+        0.0002781411908633204,
+        0.43605569146927325
+      ],
+      "yaw_degrees_local": 51.64627324439488,
+      "yaw_radians": 0.9024219732706567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.505616635964687,
+        8.71293744943366,
+        0.9029061616345069
+      ],
+      "z_min": 0.7404726198472552,
+      "z_max": 0.9029603264339852
+    }
+  ],
+  "variant_index": 9
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0010/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0010/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..edaae520e2af178ef506ce1f150ef88c7663a9f6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0010/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7433723029469829772
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.501770934, -0.000309254292, -0.000406868037, -0.865000386)
+            double3 xformOp:translate = (3.60824738942, 8.31844121014, 0.740859684785)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0171136566, 5.46626494e-05, 0.000508125783, 0.99985342)
+            double3 xformOp:translate = (3.26901532793, 8.86656150523, 0.740346744627)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908064776, -0.000433961064, 0.000269921491, 0.418829443)
+            double3 xformOp:translate = (2.57860851728, 8.8694822389, 0.826818559809)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.95926341, -0.000504355117, -8.24968607e-05, -0.282512742)
+            double3 xformOp:translate = (1.75761533144, 8.83162774205, 0.818533514136)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.380440755, -0.000251514487, -0.000444882321, -0.924805153)
+            double3 xformOp:translate = (3.36268838882, 8.46267754713, 0.787840781129)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953589554, -0.000464505052, 0.000213107656, 0.301109119)
+            double3 xformOp:translate = (3.23211957057, 8.34818745544, 0.841134228851)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.130505035, -3.37244631e-06, 0.000511046419, 0.991447515)
+            double3 xformOp:translate = (3.7227348891, 8.23310995001, 0.841188782649)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.349759658, -0.000236717984, -0.000452928705, -0.936839325)
+            double3 xformOp:translate = (1.95604926098, 8.36845450329, 0.770926440767)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0856686178, 1.96737158e-05, 0.000510678726, 0.996323555)
+            double3 xformOp:translate = (2.38596478477, 8.85275601662, 0.79947109175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.484984785, -0.000190542051, 0.000474208333, 0.874522439)
+            double3 xformOp:translate = (3.16010252758, 8.59500954547, 0.745923174652)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.262378196, -7.19251134e-05, 0.000505970942, 0.964964984)
+            double3 xformOp:translate = (3.6159871363, 8.59917854684, 0.745930701342)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.661006206, -0.000382743792, -0.0003386547, -0.75038026)
+            double3 xformOp:translate = (1.846794337, 8.82708777736, 0.817934534926)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.16112539, 0, 0, 0.986933943)
+            double3 xformOp:translate = (4.93439428871, 8.14078209118, 0.979198459737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.742087586, -0.000418788498, -0.000292909559, -0.670302732)
+            double3 xformOp:translate = (3.49697691429, 8.4051265032, 0.746475667567)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.30972338, -0.000217301048, -0.000462558181, -0.95082657)
+            double3 xformOp:translate = (3.40767582758, 8.318460221, 0.746248543694)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.392834899, -0.000257470568, -0.000441462029, -0.919608874)
+            double3 xformOp:translate = (1.86175195084, 8.71014646767, 0.743723112742)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.283817602, -8.31829828e-05, 0.00050424241, 0.95887815)
+            double3 xformOp:translate = (3.11160527574, 8.2993984001, 0.767541170195)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981093239, -0.000485267489, 0.000160297474, 0.193534995)
+            double3 xformOp:translate = (3.51494083645, 8.73084513252, 0.753898980396)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0534616616, 3.61486763e-05, 0.00050977749, 0.998569772)
+            double3 xformOp:translate = (1.75601322766, 8.22031014686, 0.823104812026)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.515290197, -0.000315604285, -0.000401962375, -0.857015608)
+            double3 xformOp:translate = (1.80734295614, 8.50610145775, 0.755226562158)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.57314119, -0.000342562056, -0.000379250648, -0.819456475)
+            double3 xformOp:translate = (3.73678068658, 8.87691029145, 0.745640447709)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.57689089, -0.000240804518, 0.000450769343, 0.816821057)
+            double3 xformOp:translate = (2.22871766122, 8.32517564001, 0.74844563004)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929061235, -0.000447706788, 0.000246451716, 0.369925614)
+            double3 xformOp:translate = (2.532531265, 8.27902720832, 0.818995796661)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.880224662, -0.000416312532, 0.000296418104, 0.474556933)
+            double3 xformOp:translate = (2.96061909468, 8.2600218828, 0.775607798305)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.605439158, -0.000357448012, -0.000365254343, -0.795891428)
+            double3 xformOp:translate = (2.32660800106, 8.24044761357, 0.797261123053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.848372952, 0, 0, 0.529399031)
+            double3 xformOp:translate = (4.96751218539, 8.33737982239, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.145173203, -1.09402319e-05, 0.000510940434, 0.989406125)
+            double3 xformOp:translate = (2.15763456257, 8.22514842412, 0.771730116315)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99750857, -0.000510321484, 2.74189548e-05, -0.0705435413)
+            double3 xformOp:translate = (2.84728921352, 8.85206859039, 0.796574826485)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.158317677, 0, 0, 0.987388228)
+            double3 xformOp:translate = (4.99895594497, 8.10271774987, 0.98444850163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956786678, 0, 0, -0.290790737)
+            double3 xformOp:translate = (4.83542473847, 8.1161769859, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0010/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0010/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c271e5cf085d5cc7f26fed0fbedd640731cbffe
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0010/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7433723029469829772,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 2,
+    "drinkware": 6,
+    "small prop": 3,
+    "drinkware/container": 2,
+    "electronics": 7,
+    "office_supplies": 2,
+    "office_supply": 4,
+    "paper_goods": 1,
+    "small object": 2,
+    "writing_instrument": 1
+  },
+  "failed_sampling_attempt_count": 120,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.6082473894158893,
+        8.31844121013646,
+        0.7408596847853149
+      ],
+      "rotation_wxyz": [
+        0.5017709342968264,
+        -0.00030925429190000554,
+        -0.0004068680365692773,
+        -0.865000386309205
+      ],
+      "yaw_degrees_local": -119.82423494481402,
+      "yaw_radians": -2.0903029189623417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6082473894158893,
+        8.31844121013646,
+        0.8908596907457794
+      ],
+      "z_min": 0.7408596847853149,
+      "z_max": 1.040859696706244
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.2690153279293304,
+        8.866561505230363,
+        0.7403467446272292
+      ],
+      "rotation_wxyz": [
+        0.01711365664271975,
+        5.466264938934181e-05,
+        0.0005081257826582415,
+        0.9998534200454079
+      ],
+      "yaw_degrees_local": 177.98011299067508,
+      "yaw_radians": 3.107363618095394,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2690153279293304,
+        8.866561505230363,
+        0.7903468385045447
+      ],
+      "z_min": 0.7403467446272292,
+      "z_max": 0.8403469323818602
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.578608517276153,
+        8.869482238901085,
+        0.8268185598092119
+      ],
+      "rotation_wxyz": [
+        0.9080647755420239,
+        -0.00043396106406710174,
+        0.00026992149064878365,
+        0.41882944290008756
+      ],
+      "yaw_degrees_local": 49.46271121181866,
+      "yaw_radians": 0.8643116178225269,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.578608517276153,
+        8.869482238901085,
+        0.9132178387674786
+      ],
+      "z_min": 0.740431302766851,
+      "z_max": 0.9132298606833843
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.7576153314362482,
+        8.831627742053781,
+        0.8185335141357071
+      ],
+      "rotation_wxyz": [
+        0.9592634098557932,
+        -0.0005043551171652474,
+        -8.249686072537673e-05,
+        -0.2825127418932119
+      ],
+      "yaw_degrees_local": -32.87917563212906,
+      "yaw_radians": -0.5728249758846036,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7576153314362482,
+        8.831627742053781,
+        0.8965270386062053
+      ],
+      "z_min": 0.7405737123699473,
+      "z_max": 0.8965607613109438
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.362688388821841,
+        8.4626775471301,
+        0.787840781128699
+      ],
+      "rotation_wxyz": [
+        0.3804407551746029,
+        -0.00025151448656370116,
+        -0.00044488232071966,
+        -0.9248051527875273
+      ],
+      "yaw_degrees_local": -135.33673083208896,
+      "yaw_radians": -2.361047115548831,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.362688388821841,
+        8.4626775471301,
+        0.8349465318153315
+      ],
+      "z_min": 0.7407445328528844,
+      "z_max": 0.8349560342261494
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.2321195705680332,
+        8.34818745544401,
+        0.8411342288507542
+      ],
+      "rotation_wxyz": [
+        0.9535895538311056,
+        -0.0004645050520504827,
+        0.00021310765556378057,
+        0.301109119165091
+      ],
+      "yaw_degrees_local": 34.989757439310154,
+      "yaw_radians": 0.6117109020057504,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2321195705680332,
+        8.34818745544401,
+        0.9413511089134041
+      ],
+      "z_min": 0.7408772233724756,
+      "z_max": 0.9413109834977756
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.722734889099299,
+        8.233109950012741,
+        0.8411887826491035
+      ],
+      "rotation_wxyz": [
+        0.13050503454720522,
+        -3.372446307711919e-06,
+        0.000511046419463256,
+        0.9914475148882148
+      ],
+      "yaw_degrees_local": 164.9437330190632,
+      "yaw_radians": 2.8798359827457283,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.722734889099299,
+        8.233109950012741,
+        0.9414056627117535
+      ],
+      "z_min": 0.7409317771708249,
+      "z_max": 0.9413655372961249
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        1.956049260981608,
+        8.368454503294771,
+        0.7709264407665509
+      ],
+      "rotation_wxyz": [
+        0.34975965827031824,
+        -0.0002367179841005129,
+        -0.0004529287054754887,
+        -0.9368393246799658
+      ],
+      "yaw_degrees_local": -139.11347393328668,
+      "yaw_radians": -2.4269637235873898,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.956049260981608,
+        8.368454503294771,
+        0.8008100783841998
+      ],
+      "z_min": 0.7410183106709277,
+      "z_max": 0.8007855859062256
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.3859647847683263,
+        8.852756016620338,
+        0.7994710917503255
+      ],
+      "rotation_wxyz": [
+        0.08566861784902233,
+        1.967371582807051e-05,
+        0.0005106787259577482,
+        0.9963235552449927
+      ],
+      "yaw_degrees_local": 170.11234009488635,
+      "yaw_radians": 2.9700451477037326,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3859647847683263,
+        8.852756016620338,
+        0.8585973697828456
+      ],
+      "z_min": 0.7404726609096194,
+      "z_max": 0.8587252169746596
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.1601025275788834,
+        8.595009545474708,
+        0.7459231746515699
+      ],
+      "rotation_wxyz": [
+        0.4849847850681082,
+        -0.00019054205105854835,
+        0.00047420833292838093,
+        0.8745224394334458
+      ],
+      "yaw_degrees_local": 121.91833013603764,
+      "yaw_radians": 2.128901225184907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1601025275788834,
+        8.595009545474708,
+        0.7512241652826833
+      ],
+      "z_min": 0.7406359634983022,
+      "z_max": 0.7512379447605292
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        3.6159871362978704,
+        8.599178546844689,
+        0.745930701341852
+      ],
+      "rotation_wxyz": [
+        0.26237819605143137,
+        -7.192511341226927e-05,
+        0.0005059709421507769,
+        0.9649649843683349
+      ],
+      "yaw_degrees_local": 149.51883990971766,
+      "yaw_radians": 2.6106209300859775,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6159871362978704,
+        8.599178546844689,
+        0.751245822841933
+      ],
+      "z_min": 0.7405739741085724,
+      "z_max": 0.7512042171087342
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.8467943370011635,
+        8.827087777362424,
+        0.8179345349262964
+      ],
+      "rotation_wxyz": [
+        0.6610062061178894,
+        -0.00038274379170748045,
+        -0.0003386547004689193,
+        -0.7503802597975365
+      ],
+      "yaw_degrees_local": -97.3053832254727,
+      "yaw_radians": -1.6972746282266062,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8467943370011635,
+        8.827087777362424,
+        0.8953162900596359
+      ],
+      "z_min": 0.7405670175589131,
+      "z_max": 0.895330527825592
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        4.934394288713345,
+        8.140782091181647,
+        0.9791984597370379
+      ],
+      "rotation_wxyz": [
+        0.16112538985835995,
+        0.0,
+        0.0,
+        0.9869339434546729
+      ],
+      "yaw_degrees_local": 71.45555220223582,
+      "yaw_radians": 2.8179309815545968,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.934394288713345,
+        8.140782091181647,
+        1.0383247377695581
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0384525849613722
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.4969769142941276,
+        8.405126503198206,
+        0.746475667567102
+      ],
+      "rotation_wxyz": [
+        0.7420875862383172,
+        -0.0004187884984298375,
+        -0.00029290955911884237,
+        -0.6703027324807592
+      ],
+      "yaw_degrees_local": -84.23959221623647,
+      "yaw_radians": -1.4692334405891108,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4969769142941276,
+        8.405126503198206,
+        0.7523067185918882
+      ],
+      "z_min": 0.7407858668377774,
+      "z_max": 0.7524479688873498
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.4076758275810564,
+        8.318460220999556,
+        0.746248543693962
+      ],
+      "rotation_wxyz": [
+        0.30972337983028797,
+        -0.0002173010480900918,
+        -0.0004625581809235031,
+        -0.9508265703095845
+      ],
+      "yaw_degrees_local": -143.97358380236517,
+      "yaw_radians": -2.511788643793688,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4076758275810564,
+        8.318460220999556,
+        0.7515839843889628
+      ],
+      "z_min": 0.7408850809471519,
+      "z_max": 0.7515559623371535
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        1.8617519508379041,
+        8.710146467665622,
+        0.7437231127424648
+      ],
+      "rotation_wxyz": [
+        0.392834899136956,
+        -0.0002574705676344225,
+        -0.00044146202899266536,
+        -0.9196088738372643
+      ],
+      "yaw_degrees_local": -133.7966830102202,
+      "yaw_radians": -2.334168206732245,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8617519508379041,
+        8.710146467665622,
+        0.7468351159863404
+      ],
+      "z_min": 0.7406836892256242,
+      "z_max": 0.7469076957133753
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.111605275738609,
+        8.299398400104918,
+        0.7675411701952839
+      ],
+      "rotation_wxyz": [
+        0.2838176024954457,
+        -8.318298275277285e-05,
+        0.0005042424095816064,
+        0.9588781504101139
+      ],
+      "yaw_degrees_local": 146.9649172223779,
+      "yaw_radians": 2.566046585572708,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.111605275738609,
+        8.299398400104918,
+        0.7941156548513579
+      ],
+      "z_min": 0.7409419376226182,
+      "z_max": 0.7940909069347661
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        3.5149408364453723,
+        8.730845132524493,
+        0.7538989803963415
+      ],
+      "rotation_wxyz": [
+        0.9810932393777164,
+        -0.00048526748906730965,
+        0.00016029747438628313,
+        0.193534995459536
+      ],
+      "yaw_degrees_local": 22.259602133743442,
+      "yaw_radians": 0.38952781395129105,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5149408364453723,
+        8.730845132524493,
+        0.7674437297689387
+      ],
+      "z_min": 0.7404532405254717,
+      "z_max": 0.7675427392706662
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        1.756013227664607,
+        8.220310146863431,
+        0.8231048120263389
+      ],
+      "rotation_wxyz": [
+        0.05346166158510472,
+        3.614867630430395e-05,
+        0.0005097774901285455,
+        0.9985697720043121
+      ],
+      "yaw_degrees_local": 173.812111578651,
+      "yaw_radians": 3.0346183079749576,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.756013227664607,
+        8.220310146863431,
+        0.9050408210671578
+      ],
+      "z_min": 0.7411939353978116,
+      "z_max": 0.9050659534794494
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        1.8073429561365097,
+        8.506101457753374,
+        0.7552265621580967
+      ],
+      "rotation_wxyz": [
+        0.5152901966488127,
+        -0.00031560428549737106,
+        -0.0004019623753736244,
+        -0.8570156078262589
+      ],
+      "yaw_degrees_local": -118.02499320982045,
+      "yaw_radians": -2.0589002147488,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8073429561365097,
+        8.506101457753374,
+        0.7693228637905025
+      ],
+      "z_min": 0.7408975378181346,
+      "z_max": 0.7690901410829463
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.7367806865805004,
+        8.876910291452102,
+        0.7456404477086812
+      ],
+      "rotation_wxyz": [
+        0.5731411899341006,
+        -0.0003425620558236178,
+        -0.00037925064818693346,
+        -0.8194564754891545
+      ],
+      "yaw_degrees_local": -110.11957545648765,
+      "yaw_radians": -1.9209245864960043,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7367806865805004,
+        8.876910291452102,
+        0.750975888403682
+      ],
+      "z_min": 0.7402769849618711,
+      "z_max": 0.7509478663518727
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.228717661215745,
+        8.325175640009647,
+        0.7484456300398209
+      ],
+      "rotation_wxyz": [
+        0.5768908904748982,
+        -0.00024080451752763986,
+        0.00045076934298884306,
+        0.8168210570910027
+      ],
+      "yaw_degrees_local": 109.47695853093478,
+      "yaw_radians": 1.9117582809977973,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.228717661215745,
+        8.325175640009647,
+        0.7559855326829203
+      ],
+      "z_min": 0.7410276463469091,
+      "z_max": 0.756107451633108
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.5325312650001433,
+        8.279027208321013,
+        0.8189957966612433
+      ],
+      "rotation_wxyz": [
+        0.9290612352169988,
+        -0.0004477067879284855,
+        0.0002464517159264076,
+        0.369925614194595
+      ],
+      "yaw_degrees_local": 43.363355123813506,
+      "yaw_radians": 0.7578577554368457,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5325312650001433,
+        8.279027208321013,
+        0.8969893211317416
+      ],
+      "z_min": 0.7410359948954836,
+      "z_max": 0.89702304383648
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.9606190946818196,
+        8.260021882799952,
+        0.7756077983050191
+      ],
+      "rotation_wxyz": [
+        0.8802246624379666,
+        -0.00041631253170724904,
+        0.0002964181036708342,
+        0.4745569327869438
+      ],
+      "yaw_degrees_local": 56.60230942435018,
+      "yaw_radians": 0.988921146777023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9606190946818196,
+        8.260021882799952,
+        0.8102075252878544
+      ],
+      "z_min": 0.7410010088546358,
+      "z_max": 0.8102004628203063
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.3266080010570827,
+        8.240447613572528,
+        0.797261123052709
+      ],
+      "rotation_wxyz": [
+        0.6054391576607394,
+        -0.00035744801204313495,
+        -0.0003652543427896832,
+        -0.7958914280171877
+      ],
+      "yaw_degrees_local": -105.53779913025872,
+      "yaw_radians": -1.8409574651362426,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3266080010570827,
+        8.240447613572528,
+        0.8534434028626017
+      ],
+      "z_min": 0.7411012028827448,
+      "z_max": 0.8534657625025301
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.967512185386882,
+        8.337379822391899,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        0.8483729520057846,
+        0.0,
+        0.0,
+        0.5293990312656331
+      ],
+      "yaw_degrees_local": -26.070282439618012,
+      "yaw_radians": 1.1157840612987027,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.967512185386882,
+        8.337379822391899,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.1576345625702382,
+        8.225148424123518,
+        0.7717301163146683
+      ],
+      "rotation_wxyz": [
+        0.14517320335516354,
+        -1.0940231929166655e-05,
+        0.0005109404344594864,
+        0.9894061248283155
+      ],
+      "yaw_degrees_local": 163.24666911011752,
+      "yaw_radians": 2.8502166446755575,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1576345625702382,
+        8.225148424123518,
+        0.802332517820061
+      ],
+      "z_min": 0.7411381155812927,
+      "z_max": 0.8023429185920783
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.847289213516383,
+        8.852068590386155,
+        0.7965748264846678
+      ],
+      "rotation_wxyz": [
+        0.9975085701879947,
+        -0.0005103214841225541,
+        2.7418954817177398e-05,
+        -0.07054354131801668
+      ],
+      "yaw_degrees_local": -8.149125519454145,
+      "yaw_radians": -0.14120437251212878,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.847289213516383,
+        8.852068590386155,
+        0.8527571062945605
+      ],
+      "z_min": 0.7404149063147036,
+      "z_max": 0.852779465934489
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        4.998955944974415,
+        8.102717749866846,
+        0.9844485016295983
+      ],
+      "rotation_wxyz": [
+        0.15831767665725627,
+        0.0,
+        0.0,
+        0.9873882282354032
+      ],
+      "yaw_degrees_local": 71.7814767354549,
+      "yaw_radians": 2.823619437772295,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.998955944974415,
+        8.102717749866846,
+        1.0486374557173188
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0485779370717727
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.835424738466003,
+        8.11617698590092,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.9567866779274601,
+        0.0,
+        0.0,
+        -0.2907907373705958
+      ],
+      "yaw_degrees_local": -123.81060448110216,
+      "yaw_radians": -0.5901063702847813,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.835424738466003,
+        8.11617698590092,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    }
+  ],
+  "variant_index": 10
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0012/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0012/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..d42f6e940ee0d1b10820312f8bd32d3b5c865461
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0012/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2884862555855507260
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0253929922, -7.62072993e-05, -0.000505343709, -0.999677415)
+            double3 xformOp:translate = (2.17118146314, 8.85199930846, 0.740500610856)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702905958, -0.000311394687, 0.000405232236, 0.711282611)
+            double3 xformOp:translate = (1.74112440181, 8.34301494003, 0.741071324897)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.699788631, -0.000400128428, -0.000317926182, -0.714349781)
+            double3 xformOp:translate = (3.32943935438, 8.26638847567, 0.740644107245)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.894392411, -0.000481896275, -0.000170164028, -0.447282856)
+            double3 xformOp:translate = (3.55676858794, 8.83720052546, 0.770248210536)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991218561, -0.000494285731, 0.000129851576, 0.132232758)
+            double3 xformOp:translate = (3.16311578948, 8.27223800826, 0.746691448501)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964789952, -0.000505922907, -7.22622174e-05, -0.263021078)
+            double3 xformOp:translate = (3.33461073992, 8.88796192361, 0.740316728622)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.125805973, -9.51009288e-07, 0.000511056662, 0.992054734)
+            double3 xformOp:translate = (1.82242865718, 8.21456005331, 0.81915115212)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978033209, -0.000482770919, 0.000167666501, 0.20844851)
+            double3 xformOp:translate = (3.05854454318, 8.32035652213, 0.746867645946)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.255560867, -0.000190845845, -0.000474086152, -0.966792833)
+            double3 xformOp:translate = (1.85602850507, 8.54462761094, 0.81102399615)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.111667177, -0.000119582527, -0.000496870039, -0.993745531)
+            double3 xformOp:translate = (2.27636551814, 8.21152130667, 0.780482861828)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.826777715, -0.00045490866, -0.000232890376, -0.562528531)
+            double3 xformOp:translate = (1.99710022423, 8.42395622539, 0.809010172883)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.300752415, -9.20988012e-05, 0.000502690389, 0.953702115)
+            double3 xformOp:translate = (2.83043018124, 8.28434227065, 0.749159974973)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.849232352, -0.00039720898, 0.000321566233, 0.528019083)
+            double3 xformOp:translate = (3.32718752016, 8.49676992592, 0.781277978299)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99271074, -0.000495784434, 0.000124006495, 0.120520226)
+            double3 xformOp:translate = (2.2714461396, 8.3343885417, 0.818380442486)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.878695163, -0.000475842812, -0.000186422731, -0.477383021)
+            double3 xformOp:translate = (1.7677806449, 8.71123038829, 0.807563229984)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.757944631, -0.00042569056, -0.000282785013, -0.652318692)
+            double3 xformOp:translate = (3.60355368198, 8.51805479848, 0.759275119106)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.696415385, -0.00030770055, 0.000408044345, 0.717638732)
+            double3 xformOp:translate = (2.67374174057, 8.88472316732, 0.787500019193)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999667137, -0.000505313062, 7.6410246e-05, 0.0257944742)
+            double3 xformOp:translate = (3.73719247513, 8.36419988254, 0.775403744908)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.712386494, -0.000405721156, -0.000310757396, -0.701787163)
+            double3 xformOp:translate = (3.73559382627, 8.80117000542, 0.857193591405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.6148872, -0.000261859927, 0.000438872641, 0.788614906)
+            double3 xformOp:translate = (1.75208442602, 8.52612055977, 0.746824483399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.127328216, 0, 0, 0.991860638)
+            double3 xformOp:translate = (4.86332252623, 8.07774637307, 0.998159830662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986969786, -0.000490314715, 0.000144122505, 0.16090488)
+            double3 xformOp:translate = (2.58068086105, 8.28743468751, 0.74671113013)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416210472, -0.000153464339, 0.000487471551, 0.909268157)
+            double3 xformOp:translate = (3.24525750809, 8.5824003443, 0.840895018011)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956963421, -0.000466906578, 0.000207793319, 0.290208115)
+            double3 xformOp:translate = (1.86797945066, 8.82082534758, 0.748564883519)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.144962053, -1.0831193e-05, 0.000510942758, 0.989437083)
+            double3 xformOp:translate = (2.04685993149, 8.86822417052, 0.796659856262)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994027068, -0.000511000597, 7.62926495e-06, -0.109132615)
+            double3 xformOp:translate = (3.18017754576, 8.44936883246, 0.747439557451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0922499852, -0.00010986184, -0.000499109399, -0.995735748)
+            double3 xformOp:translate = (1.87044574237, 8.47317160534, 0.767522180122)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.146950445, -1.18581229e-05, 0.000510919956, 0.989143723)
+            double3 xformOp:translate = (1.74319464783, 8.91365107331, 0.816641874326)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955045997, -0.000465538338, 0.000210840868, 0.296457218)
+            double3 xformOp:translate = (2.01254816033, 8.60201445455, 0.841031310405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.902914597, -0.000485111711, -0.000160768294, -0.429819694)
+            double3 xformOp:translate = (3.02207765187, 8.86860204425, 0.817743520108)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0012/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0012/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb089765ab1b6782552e5fafa67b69d07d6bfb3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0012/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2884862555855507260,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 1,
+    "electronics": 4,
+    "small object": 3,
+    "small prop": 2,
+    "office_supply": 4,
+    "stationery": 1,
+    "paper_goods": 2,
+    "clock": 3,
+    "office_supplies": 1,
+    "drinkware/container": 2
+  },
+  "failed_sampling_attempt_count": 141,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.1711814631423785,
+        8.851999308463652,
+        0.7405006108564628
+      ],
+      "rotation_wxyz": [
+        0.025392992162845022,
+        -7.62072992520447e-05,
+        -0.0005053437085598493,
+        -0.9996774153541741
+      ],
+      "yaw_degrees_local": -177.14857467720097,
+      "yaw_radians": -3.090801292803561,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1711814631423785,
+        8.851999308463652,
+        0.7905007047337783
+      ],
+      "z_min": 0.7405006108564628,
+      "z_max": 0.8405007986110938
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.7411244018059455,
+        8.343014940031809,
+        0.7410713248972862
+      ],
+      "rotation_wxyz": [
+        0.7029059579995042,
+        -0.00031139468691896875,
+        0.00040523223613003696,
+        0.7112826112235441
+      ],
+      "yaw_degrees_local": 90.62004101983342,
+      "yaw_radians": 1.5826428444412977,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7411244018059455,
+        8.343014940031809,
+        0.7635683366110693
+      ],
+      "z_min": 0.7410713278922207,
+      "z_max": 0.7860653513197868
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.329439354383606,
+        8.266388475667341,
+        0.7406441072454939
+      ],
+      "rotation_wxyz": [
+        0.6997886314703923,
+        -0.0004001284280260246,
+        -0.0003179261821960171,
+        -0.7143497813291326
+      ],
+      "yaw_degrees_local": -91.2385990933225,
+      "yaw_radians": -1.5913892151899331,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.329439354383606,
+        8.266388475667341,
+        0.7494561746499997
+      ],
+      "z_min": 0.740947803475315,
+      "z_max": 0.7585719382843266
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        3.5567685879396382,
+        8.837200525459435,
+        0.7702482105356565
+      ],
+      "rotation_wxyz": [
+        0.8943924112819761,
+        -0.00048189627501266964,
+        -0.00017016402783557422,
+        -0.44728285621225944
+      ],
+      "yaw_degrees_local": -53.1976939214522,
+      "yaw_radians": -0.9274499622612242,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5567685879396382,
+        8.837200525459435,
+        0.8001318481533055
+      ],
+      "z_min": 0.7403400804400333,
+      "z_max": 0.8001073556753312
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.1631157894784456,
+        8.272238008263443,
+        0.7466914485013412
+      ],
+      "rotation_wxyz": [
+        0.991218561393448,
+        -0.0004942857314749255,
+        0.00012985157642712852,
+        0.13223275830628045
+      ],
+      "yaw_degrees_local": 15.138559559987158,
+      "yaw_radians": 0.26524221494769756,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1631157894784456,
+        8.272238008263443,
+        0.75231857539156
+      ],
+      "z_min": 0.7409629472241366,
+      "z_max": 0.7522172010045742
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.3346107399237654,
+        8.887961923610826,
+        0.7403167286221045
+      ],
+      "rotation_wxyz": [
+        0.9647899519608201,
+        -0.0005059229073381961,
+        -7.226221744992048e-05,
+        -0.26302107789229084
+      ],
+      "yaw_degrees_local": -30.55751054111056,
+      "yaw_radians": -0.5323042897785891,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3346107399237654,
+        8.887961923610826,
+        0.79031682249942
+      ],
+      "z_min": 0.7403167286221045,
+      "z_max": 0.8403169163767356
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.822428657175549,
+        8.214560053311667,
+        0.8191511521202597
+      ],
+      "rotation_wxyz": [
+        0.12580597252317846,
+        -9.510092881063879e-07,
+        0.0005110566620460461,
+        0.9920547344263225
+      ],
+      "yaw_degrees_local": 165.4866835865143,
+      "yaw_radians": 2.889312253046783,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.822428657175549,
+        8.214560053311667,
+        0.8971446765907579
+      ],
+      "z_min": 0.7411913503544999,
+      "z_max": 0.8971783992954964
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.058544543176911,
+        8.320356522128927,
+        0.7468676459460366
+      ],
+      "rotation_wxyz": [
+        0.9780332087949329,
+        -0.0004827709194791703,
+        0.0001676665009641134,
+        0.2084485099838115
+      ],
+      "yaw_degrees_local": 24.004185667458614,
+      "yaw_radians": 0.4199765328894446,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.058544543176911,
+        8.320356522128927,
+        0.7526848587126089
+      ],
+      "z_min": 0.7409273932837269,
+      "z_max": 0.7525618188168716
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        1.8560285050699572,
+        8.544627610943724,
+        0.8110239961504807
+      ],
+      "rotation_wxyz": [
+        0.25556086663444016,
+        -0.00019084584485077642,
+        -0.00047408615223765605,
+        -0.9667928331681188
+      ],
+      "yaw_degrees_local": -150.44506313129477,
+      "yaw_radians": -2.6247372552742387,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8560285050699572,
+        8.544627610943724,
+        0.8812003623823996
+      ],
+      "z_min": 0.7408523240102606,
+      "z_max": 0.8812050564740983
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.2763655181390163,
+        8.211521306670438,
+        0.7804828618278555
+      ],
+      "rotation_wxyz": [
+        0.11166717687199663,
+        -0.00011958252683235199,
+        -0.0004968700388599642,
+        -0.9937455310237235
+      ],
+      "yaw_degrees_local": -167.23584885343064,
+      "yaw_radians": -2.9177916672271196,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2763655181390163,
+        8.211521306670438,
+        0.8198317211537314
+      ],
+      "z_min": 0.7411368978699192,
+      "z_max": 0.8198346165216709
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.9971002242319154,
+        8.42395622538963,
+        0.8090101728832765
+      ],
+      "rotation_wxyz": [
+        0.8267777152915963,
+        -0.0004549086599594097,
+        -0.00023289037621646543,
+        -0.5625285311141046
+      ],
+      "yaw_degrees_local": -68.520407627561,
+      "yaw_radians": -1.1948818079582246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9971002242319154,
+        8.42395622538963,
+        0.8770655164368624
+      ],
+      "z_min": 0.740956837760967,
+      "z_max": 0.8770675248681387
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        2.8304301812393695,
+        8.284342270653823,
+        0.7491599749730632
+      ],
+      "rotation_wxyz": [
+        0.3007524153241426,
+        -9.209880123325795e-05,
+        0.0005026903888594942,
+        0.9537021146547167
+      ],
+      "yaw_degrees_local": 144.93568380712105,
+      "yaw_radians": 2.5306297921245595,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8304301812393695,
+        8.284342270653823,
+        0.7573959817252038
+      ],
+      "z_min": 0.7409928236049002,
+      "z_max": 0.7574648371091816
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.3271875201646193,
+        8.496769925919915,
+        0.7812779782992813
+      ],
+      "rotation_wxyz": [
+        0.849232351680607,
+        -0.00039720898014007367,
+        0.00032156623320304516,
+        0.528019082684717
+      ],
+      "yaw_degrees_local": 63.68471824083946,
+      "yaw_radians": 1.1125325448560603,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3271875201646193,
+        8.496769925919915,
+        0.8218279874388128
+      ],
+      "z_min": 0.7407144498527163,
+      "z_max": 0.8218144681317793
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.27144613960233,
+        8.334388541695306,
+        0.8183804424857024
+      ],
+      "rotation_wxyz": [
+        0.9927107402965326,
+        -0.0004957844344836811,
+        0.00012400649484607334,
+        0.12052022618670483
+      ],
+      "yaw_degrees_local": 13.785545899824854,
+      "yaw_radians": 0.2416276807323826,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.27144613960233,
+        8.334388541695306,
+        0.8957621976190419
+      ],
+      "z_min": 0.7410129251183191,
+      "z_max": 0.895776435384998
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        1.7677806449044564,
+        8.711230388294908,
+        0.8075632299843679
+      ],
+      "rotation_wxyz": [
+        0.8786951634729406,
+        -0.00047584281196804963,
+        -0.0001864227307456148,
+        -0.4773830207594801
+      ],
+      "yaw_degrees_local": -57.08796256462833,
+      "yaw_radians": -0.9953479625312234,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7677806449044564,
+        8.711230388294908,
+        0.8744145350166492
+      ],
+      "z_min": 0.7406945294900481,
+      "z_max": 0.8743971395546107
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        3.603553681980215,
+        8.518054798478742,
+        0.7592751191056506
+      ],
+      "rotation_wxyz": [
+        0.7579446307619871,
+        -0.00042569055996482294,
+        -0.0002827850126812736,
+        -0.6523186916831824
+      ],
+      "yaw_degrees_local": -81.4920238400492,
+      "yaw_radians": -1.4212793040222207,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.603553681980215,
+        8.518054798478742,
+        0.7781927639806798
+      ],
+      "z_min": 0.7406578346838906,
+      "z_max": 0.7776211332221357
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.673741740571941,
+        8.884723167316798,
+        0.7875000191926252
+      ],
+      "rotation_wxyz": [
+        0.6964153853485828,
+        -0.00030770055024680407,
+        0.0004080443451613153,
+        0.7176387321417155
+      ],
+      "yaw_degrees_local": 91.66104964825763,
+      "yaw_radians": 1.6008118816418013,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.673741740571941,
+        8.884723167316798,
+        0.8346057698792577
+      ],
+      "z_min": 0.7404037709168106,
+      "z_max": 0.8346152722900756
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.7371924751349974,
+        8.364199882537124,
+        0.775403744908122
+      ],
+      "rotation_wxyz": [
+        0.9996671365613711,
+        -0.0005053130619145378,
+        7.641024603328476e-05,
+        0.02579447420230207
+      ],
+      "yaw_degrees_local": 2.89744685736639,
+      "yaw_radians": 0.0515945876972533,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7371924751349974,
+        8.364199882537124,
+        0.8100034718909573
+      ],
+      "z_min": 0.7407969554577387,
+      "z_max": 0.8099964094234092
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.7355938262651875,
+        8.801170005416898,
+        0.8571935914045419
+      ],
+      "rotation_wxyz": [
+        0.7123864940680856,
+        -0.0004057211564510316,
+        -0.000310757396449948,
+        -0.7017871628133172
+      ],
+      "yaw_degrees_local": -89.19985468802726,
+      "yaw_radians": -1.555806394673575,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7355938262651875,
+        8.801170005416898,
+        0.9740524100805144
+      ],
+      "z_min": 0.7403540118042773,
+      "z_max": 0.9740716491562221
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.7520844260192256,
+        8.52612055976984,
+        0.7468244833987374
+      ],
+      "rotation_wxyz": [
+        0.614887199786008,
+        -0.0002618599272479289,
+        0.00043887264068522436,
+        0.7886149062498792
+      ],
+      "yaw_degrees_local": 104.05382894763284,
+      "yaw_radians": 1.8171067809023664,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7520844260192256,
+        8.52612055976984,
+        0.7526416961653097
+      ],
+      "z_min": 0.7408842307364277,
+      "z_max": 0.7525186562695724
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        4.86332252623424,
+        8.077746373065416,
+        0.9981598306620916
+      ],
+      "rotation_wxyz": [
+        0.12732821627304713,
+        0.0,
+        0.0,
+        0.9918606380639996
+      ],
+      "yaw_degrees_local": 75.36954542000899,
+      "yaw_radians": 2.886243050105466,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.86332252623424,
+        8.077746373065416,
+        1.07615335513259
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0761870778373284
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.5806808610473846,
+        8.287434687514704,
+        0.7467111301301615
+      ],
+      "rotation_wxyz": [
+        0.9869697859400811,
+        -0.0004903147151402122,
+        0.00014412250468710737,
+        0.16090488016705567
+      ],
+      "yaw_degrees_local": 18.46013720427274,
+      "yaw_radians": 0.3232146609328442,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5806808610473846,
+        8.287434687514704,
+        0.7525421811549478
+      ],
+      "z_min": 0.7410213294008369,
+      "z_max": 0.7526834314504093
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.2452575080929553,
+        8.582400344302126,
+        0.8408950180111135
+      ],
+      "rotation_wxyz": [
+        0.4162104716137336,
+        -0.00015346433920058008,
+        0.0004874715507945483,
+        0.9092681574427082
+      ],
+      "yaw_degrees_local": 130.75014512621772,
+      "yaw_radians": 2.2830454798497684,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2452575080929553,
+        8.582400344302126,
+        0.9411118980737636
+      ],
+      "z_min": 0.740638012532835,
+      "z_max": 0.941071772658135
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        1.867979450656295,
+        8.820825347575765,
+        0.7485648835190052
+      ],
+      "rotation_wxyz": [
+        0.9569634208065781,
+        -0.0004669065783632229,
+        0.0002077933187603978,
+        0.29020811508011984
+      ],
+      "yaw_degrees_local": 33.68212607343568,
+      "yaw_radians": 0.588888430715304,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.867979450656295,
+        8.820825347575765,
+        0.7566603088864393
+      ],
+      "z_min": 0.7405706487012538,
+      "z_max": 0.756761499436122
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.0468599314870732,
+        8.868224170520199,
+        0.7966598562622988
+      ],
+      "rotation_wxyz": [
+        0.14496205308316254,
+        -1.083119301539565e-05,
+        0.0005109427575552626,
+        0.989437083389388
+      ],
+      "yaw_degrees_local": 163.27112384070466,
+      "yaw_radians": 2.8506434600313435,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0468599314870732,
+        8.868224170520199,
+        0.8528421360721915
+      ],
+      "z_min": 0.7404999360923347,
+      "z_max": 0.85286449571212
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.180177545761413,
+        8.449368832458509,
+        0.7474395574509057
+      ],
+      "rotation_wxyz": [
+        0.9940270676672652,
+        -0.0005110005974131551,
+        7.629264952222838e-06,
+        -0.10913261457970358
+      ],
+      "yaw_degrees_local": -12.589346116491043,
+      "yaw_radians": -0.21870080125520386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.180177545761413,
+        8.449368832458509,
+        0.7540523617343935
+      ],
+      "z_min": 0.7407811341847494,
+      "z_max": 0.754006742751725
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.870445742367516,
+        8.473171605341857,
+        0.7675221801224602
+      ],
+      "rotation_wxyz": [
+        0.09224998517575339,
+        -0.00010986184040014856,
+        -0.0004991093990942316,
+        -0.9957357476033776
+      ],
+      "yaw_degrees_local": -169.47258829554198,
+      "yaw_radians": -2.9568301188597554,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.870445742367516,
+        8.473171605341857,
+        0.7940966647785342
+      ],
+      "z_min": 0.7409229475497945,
+      "z_max": 0.7940719168619425
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.743194647828172,
+        8.913651073312932,
+        0.8166418743264461
+      ],
+      "rotation_wxyz": [
+        0.14695044523144346,
+        -1.1858122918273725e-05,
+        0.0005109199557280648,
+        0.9891437233620121
+      ],
+      "yaw_degrees_local": 163.0408043321525,
+      "yaw_radians": 2.8466236282569652,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.743194647828172,
+        8.913651073312932,
+        0.8928278128485322
+      ],
+      "z_min": 0.7404923478392438,
+      "z_max": 0.8928642248834161
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.012548160331727,
+        8.60201445455374,
+        0.8410313104048749
+      ],
+      "rotation_wxyz": [
+        0.9550459973264503,
+        -0.0004655383382855529,
+        0.00021084086849242184,
+        0.2964572175051734
+      ],
+      "yaw_degrees_local": 34.43117242523411,
+      "yaw_radians": 0.6019617549096028,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.012548160331727,
+        8.60201445455374,
+        0.941248190467525
+      ],
+      "z_min": 0.7407743049265963,
+      "z_max": 0.9412080650518964
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.022077651873848,
+        8.868602044252697,
+        0.8177435201081951
+      ],
+      "rotation_wxyz": [
+        0.9029145971436425,
+        -0.0004851117106054129,
+        -0.00016076829436739926,
+        -0.4298196936915732
+      ],
+      "yaw_degrees_local": -50.97095353731845,
+      "yaw_radians": -0.8885860110383254,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.022077651873848,
+        8.868602044252697,
+        0.8951252752415345
+      ],
+      "z_min": 0.7403760027408117,
+      "z_max": 0.8951395130074906
+    }
+  ],
+  "variant_index": 12
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0013/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0013/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..64957b3581d9a5ba855172244c2e5557e81d0185
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0013/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5611455877735566787
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.614877019, -0.000361773633, -0.000360970434, -0.788622844)
+            double3 xformOp:translate = (3.66517717292, 8.41397007438, 0.74075558327)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.685781345, -0.00039387766, -0.00032563815, -0.727807451)
+            double3 xformOp:translate = (2.59361939762, 8.21288925933, 0.741095290479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.832800211, -0.000457395453, -0.000227967575, -0.553573434)
+            double3 xformOp:translate = (1.76499150596, 8.37671832648, 0.752841505705)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.799391225, -0.000367322366, 0.000355322524, 0.600810626)
+            double3 xformOp:translate = (2.7721353497, 8.29331765567, 0.748985341229)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.72199677, -0.000322304079, 0.00039661051, 0.691896237)
+            double3 xformOp:translate = (1.78710048223, 8.66406371232, 0.8076086201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.878515686, -0.00041524593, 0.000297910446, 0.477713227)
+            double3 xformOp:translate = (1.94176472303, 8.89450973114, 0.808539933447)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.730432428, -0.000413681396, -0.000300079188, -0.682984778)
+            double3 xformOp:translate = (1.73964138513, 8.90731485531, 0.74481945747)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998735175, 0, 0, -0.0502797227)
+            double3 xformOp:translate = (4.93556116922, 8.79390764678, 0.931443121956)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.355333152, -0.000239411372, -0.00045151081, -0.934739584)
+            double3 xformOp:translate = (3.61469657149, 8.51901280153, 0.827042743672)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.957315827, -0.000467159068, 0.000207225051, 0.289043504)
+            double3 xformOp:translate = (3.49576389283, 8.52857135432, 0.75190391475)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.106594561, -0.000117045403, -0.000497473808, -0.994302438)
+            double3 xformOp:translate = (3.18833035055, 8.92337385527, 0.745586560506)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0891634235, -0.000108314406, -0.000499447501, -0.996016879)
+            double3 xformOp:translate = (3.55432296146, 8.75543401215, 0.787000228572)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.477541831, -0.000186508733, 0.00047580911, 0.878608866)
+            double3 xformOp:translate = (2.6301527668, 8.85732554365, 0.74608749586)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.125566288, -8.27537635e-07, 0.000511056877, 0.9920851)
+            double3 xformOp:translate = (2.01595476252, 8.33657624929, 0.74802404415)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.829655306, -0.000456098516, -0.000230551426, -0.558275749)
+            double3 xformOp:translate = (3.34185010163, 8.30560875271, 0.753423015144)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.138828299, -7.66496724e-06, 0.000511000063, 0.990316334)
+            double3 xformOp:translate = (3.63435804438, 8.896095047, 0.74552365184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0773567105, 2.3931882e-05, 0.000510496896, 0.997003349)
+            double3 xformOp:translate = (2.0298901164, 8.70111983193, 0.788251367414)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.339936356, -0.000112809239, 0.000498451494, 0.940448304)
+            double3 xformOp:translate = (2.25268792003, 8.26913298324, 0.770989591398)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.878139167, -0.000415011166, 0.000298237402, 0.478404999)
+            double3 xformOp:translate = (3.45708965027, 8.62784814737, 0.771157042882)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.636199975, -0.000273750692, 0.000431555761, 0.771524031)
+            double3 xformOp:translate = (3.42457255754, 8.84568381293, 0.779219380452)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.569893383, -0.000341058341, -0.0003806035, -0.821718487)
+            double3 xformOp:translate = (2.36771934712, 8.32673302007, 0.797168400763)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0271473551, 0, 0, 0.999631443)
+            double3 xformOp:translate = (4.96338965722, 8.26261950206, 0.932710421032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.129791334, -0.000128633931, -0.000494604011, -0.991541199)
+            double3 xformOp:translate = (3.68930692977, 8.25358846311, 0.817064756458)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999514542, -0.000504896306, 7.91172347e-05, 0.031151544)
+            double3 xformOp:translate = (2.12611640733, 8.18791705831, 0.811351563031)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.743892045, -0.000334902382, 0.00038603136, 0.668299607)
+            double3 xformOp:translate = (3.20724858445, 8.30117679677, 0.75272856895)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999975099, -0.000507549223, 5.97796118e-05, -0.00703853684)
+            double3 xformOp:translate = (2.48002014636, 8.26688402298, 0.787645181601)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.811880055, -0.000448702901, -0.000244633446, -0.583824044)
+            double3 xformOp:translate = (3.7546709711, 8.61192391158, 0.882178410378)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.804560119, -0.000370383224, 0.000352130776, 0.593870991)
+            double3 xformOp:translate = (3.22886910635, 8.46314363701, 0.788340818547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.556442644, -0.000229543872, 0.000456606425, 0.830885866)
+            double3 xformOp:translate = (2.92446626651, 8.22469619968, 0.870992630823)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.271473213, -7.66969296e-05, 0.000505269628, 0.96244586)
+            double3 xformOp:translate = (2.3045063177, 8.90595376957, 0.745716210013)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0013/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0013/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43d3da488694b849a6d3517f8360f5c2046eaa9
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0013/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5611455877735566787,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "book": 1,
+    "office_supply": 3,
+    "clock": 3,
+    "electronics": 7,
+    "small prop": 1,
+    "office_supplies": 2,
+    "writing_instrument": 2,
+    "paper goods": 2,
+    "small object": 3
+  },
+  "failed_sampling_attempt_count": 194,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.6651771729186646,
+        8.413970074375912,
+        0.7407555832699803
+      ],
+      "rotation_wxyz": [
+        0.6148770190469903,
+        -0.00036177363340334585,
+        -0.00036097043426637336,
+        -0.7886228441200973
+      ],
+      "yaw_degrees_local": -104.17272911514065,
+      "yaw_radians": -1.8171324868521728,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6651771729186646,
+        8.413970074375912,
+        0.7907556771472958
+      ],
+      "z_min": 0.7407555832699803,
+      "z_max": 0.8407557710246113
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.593619397618425,
+        8.21288925933147,
+        0.7410952904786368
+      ],
+      "rotation_wxyz": [
+        0.6857813453060043,
+        -0.0003938776603776061,
+        -0.0003256381502462139,
+        -0.7278074506697982
+      ],
+      "yaw_degrees_local": -93.46452321934164,
+      "yaw_radians": -1.6302389400895527,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.593619397618425,
+        8.21288925933147,
+        0.7635923021924198
+      ],
+      "z_min": 0.7410952934735713,
+      "z_max": 0.7860893169011374
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        1.76499150596132,
+        8.376718326484623,
+        0.7528415057054579
+      ],
+      "rotation_wxyz": [
+        0.832800211108697,
+        -0.00045739545343491747,
+        -0.00022796757536408294,
+        -0.5535734343314298
+      ],
+      "yaw_degrees_local": -67.28374555138916,
+      "yaw_radians": -1.1732979771131833,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.76499150596132,
+        8.376718326484623,
+        0.7645288306581246
+      ],
+      "z_min": 0.7410341270120588,
+      "z_max": 0.7644087769173922
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        2.7721353497041985,
+        8.293317655671913,
+        0.7489853412285072
+      ],
+      "rotation_wxyz": [
+        0.7993912251355718,
+        -0.00036732236576585294,
+        0.00035532252369993323,
+        0.6008106257352924
+      ],
+      "yaw_degrees_local": 73.79725387741433,
+      "yaw_radians": 1.289029668300917,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7721353497041985,
+        8.293317655671913,
+        0.7570807665959414
+      ],
+      "z_min": 0.7409911064107558,
+      "z_max": 0.7571819571456241
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        1.7871004822318828,
+        8.664063712323507,
+        0.8076086200998024
+      ],
+      "rotation_wxyz": [
+        0.7219967696834292,
+        -0.00032230407946013377,
+        0.00039661050995109593,
+        0.6918962374423476
+      ],
+      "yaw_degrees_local": 87.5021050444073,
+      "yaw_radians": 1.5282245680632782,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7871004822318828,
+        8.664063712323507,
+        0.8744599251320837
+      ],
+      "z_min": 0.7407399196054826,
+      "z_max": 0.8744425296700452
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.9417647230291437,
+        8.894509731142739,
+        0.8085399334465656
+      ],
+      "rotation_wxyz": [
+        0.8785156864192419,
+        -0.0004152459297260862,
+        0.00029791044642011276,
+        0.4777132272980437
+      ],
+      "yaw_degrees_local": 57.01360870535504,
+      "yaw_radians": 0.9960996757489093,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9417647230291437,
+        8.894509731142739,
+        0.8765952770001515
+      ],
+      "z_min": 0.7404865983242561,
+      "z_max": 0.8765972854314278
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.7396413851279435,
+        8.9073148553105,
+        0.744819457469534
+      ],
+      "rotation_wxyz": [
+        0.7304324276036475,
+        -0.00041368139601738506,
+        -0.0003000791875979073,
+        -0.6829847783993624
+      ],
+      "yaw_degrees_local": -86.21337793019919,
+      "yaw_radians": -1.5036825164744156,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7396413851279435,
+        8.9073148553105,
+        0.7489560588296611
+      ],
+      "z_min": 0.7404991869170666,
+      "z_max": 0.7487723896373207
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        4.935561169221009,
+        8.793907646777576,
+        0.931443121956281
+      ],
+      "rotation_wxyz": [
+        0.9987351748535019,
+        0.0,
+        0.0,
+        -0.05027972265580971
+      ],
+      "yaw_degrees_local": -95.76406218844471,
+      "yaw_radians": -0.10060186347807003,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.935561169221009,
+        8.793907646777576,
+        0.9426761211801932
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9426660273441562
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.6146965714855863,
+        8.519012801533526,
+        0.8270427436724589
+      ],
+      "rotation_wxyz": [
+        0.35533315223327255,
+        -0.00023941137210234468,
+        -0.0004515108095587361,
+        -0.9347395839185104
+      ],
+      "yaw_degrees_local": -138.430976955433,
+      "yaw_radians": -2.4150519034506654,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6146965714855863,
+        8.519012801533526,
+        0.9134420226307256
+      ],
+      "z_min": 0.740655486630098,
+      "z_max": 0.9134540445466313
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.4957638928294923,
+        8.528571354322366,
+        0.751903914749581
+      ],
+      "rotation_wxyz": [
+        0.9573158265475962,
+        -0.0004671590676983065,
+        0.0002072250508687637,
+        0.2890435037527686
+      ],
+      "yaw_degrees_local": 33.54269541160295,
+      "yaw_radians": 0.5864549067741448,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4957638928294923,
+        8.528571354322366,
+        0.7631369139734931
+      ],
+      "z_min": 0.7406608216896318,
+      "z_max": 0.7631268201374561
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.1883303505481067,
+        8.923373855271981,
+        0.7455865605058744
+      ],
+      "rotation_wxyz": [
+        0.10659456148956617,
+        -0.00011704540299394633,
+        -0.000497473808233456,
+        -0.9943024380343393
+      ],
+      "yaw_degrees_local": -167.8206211050109,
+      "yaw_radians": -2.9279978642661226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1883303505481067,
+        8.923373855271981,
+        0.7508875511369878
+      ],
+      "z_min": 0.7402993493526067,
+      "z_max": 0.7509013306148337
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.5543229614640897,
+        8.755434012146173,
+        0.7870002285719377
+      ],
+      "rotation_wxyz": [
+        0.08916342352938626,
+        -0.00010831440554937713,
+        -0.0004994475005351389,
+        -0.9960168787348452
+      ],
+      "yaw_degrees_local": -169.82774648464755,
+      "yaw_radians": -2.963028795974616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5543229614640897,
+        8.755434012146173,
+        0.8333673967078227
+      ],
+      "z_min": 0.7404233292395789,
+      "z_max": 0.8331576655113487
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.6301527667998035,
+        8.85732554364665,
+        0.7460874958602918
+      ],
+      "rotation_wxyz": [
+        0.4775418309082839,
+        -0.0001865087329289488,
+        0.0004758091096033688,
+        0.8786088655101018
+      ],
+      "yaw_degrees_local": 122.89132582008949,
+      "yaw_radians": 2.145883205146227,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6301527667998035,
+        8.85732554364665,
+        0.7517363470735738
+      ],
+      "z_min": 0.7404370595905049,
+      "z_max": 0.7517347620170691
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        2.0159547625226164,
+        8.336576249294167,
+        0.7480240441503996
+      ],
+      "rotation_wxyz": [
+        0.12556628777502957,
+        -8.275376346091794e-07,
+        0.0005110568768951024,
+        0.9920851002784904
+      ],
+      "yaw_degrees_local": 165.51436898282674,
+      "yaw_radians": 2.889795454122945,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0159547625226164,
+        8.336576249294167,
+        0.7550073249592402
+      ],
+      "z_min": 0.7410430405515178,
+      "z_max": 0.755009602169199
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.3418501016270783,
+        8.305608752709627,
+        0.7534230151440204
+      ],
+      "rotation_wxyz": [
+        0.8296553061687684,
+        -0.0004560985161409352,
+        -0.00023055142553094236,
+        -0.5582757488608933
+      ],
+      "yaw_degrees_local": -67.93199641926236,
+      "yaw_radians": -1.184612092167653,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3418501016270783,
+        8.305608752709627,
+        0.7659916814030499
+      ],
+      "z_min": 0.7409064592495378,
+      "z_max": 0.7660437917675965
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.6343580443766044,
+        8.89609504700388,
+        0.7455236518404555
+      ],
+      "rotation_wxyz": [
+        0.13882829865212387,
+        -7.664967237933207e-06,
+        0.0005110000631287182,
+        0.9903163344676996
+      ],
+      "yaw_degrees_local": 163.98118624303754,
+      "yaw_radians": 2.8630363807038237,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6343580443766044,
+        8.89609504700388,
+        0.750759567158589
+      ],
+      "z_min": 0.7402705041713744,
+      "z_max": 0.7507423348076414
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.0298901163979792,
+        8.701119831931774,
+        0.7882513674144859
+      ],
+      "rotation_wxyz": [
+        0.07735671050764723,
+        2.3931881979327068e-05,
+        0.0005104968964305661,
+        0.9970033491215664
+      ],
+      "yaw_degrees_local": 171.06799759213476,
+      "yaw_radians": 2.9867245088662524,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0298901163979792,
+        8.701119831931774,
+        0.8356502928425863
+      ],
+      "z_min": 0.7406715643021862,
+      "z_max": 0.8354694151583871
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        2.252687920031462,
+        8.269132983238828,
+        0.7709895913976371
+      ],
+      "rotation_wxyz": [
+        0.33993635644056064,
+        -0.00011280923911590707,
+        0.000498451493939383,
+        0.9404483039434439
+      ],
+      "yaw_degrees_local": 140.19529095303852,
+      "yaw_radians": 2.447894350233232,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.252687920031462,
+        8.269132983238828,
+        0.800873229015286
+      ],
+      "z_min": 0.7410814613020139,
+      "z_max": 0.8008487365373118
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.4570896502724358,
+        8.62784814736647,
+        0.771157042881992
+      ],
+      "rotation_wxyz": [
+        0.8781391665632778,
+        -0.00041501116639252776,
+        0.0002982374020974336,
+        0.4784049988950115
+      ],
+      "yaw_degrees_local": 57.10386113206732,
+      "yaw_radians": 0.9976748782649054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4570896502724358,
+        8.62784814736647,
+        0.8017594443873848
+      ],
+      "z_min": 0.7405650421486165,
+      "z_max": 0.8017698451594021
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.4245725575426107,
+        8.845683812932963,
+        0.7792193804521168
+      ],
+      "rotation_wxyz": [
+        0.6361999747519369,
+        -0.0002737506917216637,
+        0.0004315557611968856,
+        0.7715240313469302
+      ],
+      "yaw_degrees_local": 100.92319468779164,
+      "yaw_radians": 1.7624668833279922,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4245725575426107,
+        8.845683812932963,
+        0.8181668119871235
+      ],
+      "z_min": 0.7403482304839958,
+      "z_max": 0.8182430935540093
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.367719347117149,
+        8.32673302006525,
+        0.7971684007633985
+      ],
+      "rotation_wxyz": [
+        0.5698933827798333,
+        -0.0003410583406212893,
+        -0.0003806035004213245,
+        -0.8217184865170932
+      ],
+      "yaw_degrees_local": -110.57311734934113,
+      "yaw_radians": -1.9288403895277795,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.367719347117149,
+        8.32673302006525,
+        0.8533506805732911
+      ],
+      "z_min": 0.7410084805934343,
+      "z_max": 0.8533730402132196
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        4.9633896572213825,
+        8.26261950206274,
+        0.9327104210321833
+      ],
+      "rotation_wxyz": [
+        0.027147355092272285,
+        0.0,
+        0.0,
+        0.9996314426384827
+      ],
+      "yaw_degrees_local": 86.88876002368181,
+      "yaw_radians": 3.0872912721833705,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9633896572213825,
+        8.26261950206274,
+        0.9452812437974482
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9453416744268615
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.689306929765472,
+        8.253588463112921,
+        0.8170647564582165
+      ],
+      "rotation_wxyz": [
+        0.12979133433557008,
+        -0.0001286339306126596,
+        -0.0004946040114429421,
+        -0.9915411985145027
+      ],
+      "yaw_degrees_local": -165.14363946716074,
+      "yaw_radians": -2.881275738972124,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.689306929765472,
+        8.253588463112921,
+        0.8932506949803026
+      ],
+      "z_min": 0.7409152299710142,
+      "z_max": 0.8932871070151865
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.1261164073261383,
+        8.187917058309699,
+        0.8113515630311451
+      ],
+      "rotation_wxyz": [
+        0.9995145422274372,
+        -0.0005048963056063286,
+        7.911723469253416e-05,
+        0.031151544039757017
+      ],
+      "yaw_degrees_local": 3.5115716482358437,
+      "yaw_radians": 0.062313082081024276,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1261164073261383,
+        8.187917058309699,
+        0.881527929263064
+      ],
+      "z_min": 0.741179890890925,
+      "z_max": 0.8815326233547627
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.2072485844488963,
+        8.301176796774095,
+        0.7527285689503348
+      ],
+      "rotation_wxyz": [
+        0.7438920447937526,
+        -0.0003349023822116079,
+        0.00038603135964491634,
+        0.6682996068476725
+      ],
+      "yaw_degrees_local": 83.81322885199637,
+      "yaw_radians": 1.4638414993640567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2072485844488963,
+        8.301176796774095,
+        0.7645998394969046
+      ],
+      "z_min": 0.7409280080708854,
+      "z_max": 0.7646705491640249
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.4800201463631373,
+        8.266884022979916,
+        0.7876451816008534
+      ],
+      "rotation_wxyz": [
+        0.9999750985996607,
+        -0.0005075492234773772,
+        5.977961180723774e-05,
+        -0.007038536835373682
+      ],
+      "yaw_degrees_local": -0.8652740935779377,
+      "yaw_radians": -0.014077248843992536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4800201463631373,
+        8.266884022979916,
+        0.8342267848667714
+      ],
+      "z_min": 0.7410549477361533,
+      "z_max": 0.8342181542679893
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.7546709710979638,
+        8.61192391157557,
+        0.8821784103776519
+      ],
+      "rotation_wxyz": [
+        0.8118800552133687,
+        -0.00044870290116447734,
+        -0.0002446334456424425,
+        -0.5838240443549079
+      ],
+      "yaw_degrees_local": -71.49863620186832,
+      "yaw_radians": -1.2468617182788673,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7546709710979638,
+        8.61192391157557,
+        1.0237391975734034
+      ],
+      "z_min": 0.7405435471385313,
+      "z_max": 1.0236651215300343
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.2288691063465,
+        8.463143637009804,
+        0.7883408185474432
+      ],
+      "rotation_wxyz": [
+        0.804560118831043,
+        -0.0003703832238652747,
+        0.0003521307764446022,
+        0.5938709910466767
+      ],
+      "yaw_degrees_local": 72.80567941468018,
+      "yaw_radians": 1.2717234206023391,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2288691063465,
+        8.463143637009804,
+        0.8357397439755436
+      ],
+      "z_min": 0.7407610154351435,
+      "z_max": 0.8355588662913445
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.9244662665058505,
+        8.22469619967604,
+        0.8709926308226982
+      ],
+      "rotation_wxyz": [
+        0.5564426439571608,
+        -0.0002295438721318933,
+        0.00045660642462301126,
+        0.8308858662934088
+      ],
+      "yaw_degrees_local": 112.32100334603382,
+      "yaw_radians": 1.9613962415299921,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9244662665058505,
+        8.22469619967604,
+        1.0011597803374674
+      ],
+      "z_min": 0.741041467707062,
+      "z_max": 1.0013757667366003
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.3045063176968608,
+        8.90595376956549,
+        0.7457162100125436
+      ],
+      "rotation_wxyz": [
+        0.2714732131061418,
+        -7.669692958275745e-05,
+        0.0005052696282509866,
+        0.9624458599765554
+      ],
+      "yaw_degrees_local": 148.4373844937724,
+      "yaw_radians": 2.591745979001304,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3045063176968608,
+        8.90595376956549,
+        0.7510172006436571
+      ],
+      "z_min": 0.7404289988592759,
+      "z_max": 0.7510309801215029
+    }
+  ],
+  "variant_index": 13
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0014/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0014/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..00bea9af5daedbda4929ad96722cd4690023fb94
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0014/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5359486054949711774
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.882585705, -0.000417788956, 0.000294333492, 0.470151264)
+            double3 xformOp:translate = (3.39011170756, 8.25808400552, 0.740948536045)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.487540509, -0.000302550945, -0.000411877096, -0.873100218)
+            double3 xformOp:translate = (3.5845163967, 8.45956230578, 0.740719561973)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.73745994, -0.000331191335, 0.000389219881, 0.675390684)
+            double3 xformOp:translate = (3.26415984174, 8.54661912375, 0.746361659382)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.722340448, -0.000322501095, 0.000396450325, 0.691537429)
+            double3 xformOp:translate = (2.56104999919, 8.22931620759, 0.770990905032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.738028876, -0.00033151924, 0.000388940625, 0.674768936)
+            double3 xformOp:translate = (2.9892947748, 8.29088089288, 0.82215579024)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.643033554, -0.000374608819, -0.00034763206, -0.765837833)
+            double3 xformOp:translate = (2.06699168667, 8.26984289292, 0.74909849258)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999996297, -0.00050728341, 6.19948249e-05, -0.00267292741)
+            double3 xformOp:translate = (1.91700965316, 8.49386964216, 0.818263599122)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.10078164, -0.000114135968, -0.000498149372, -0.994908438)
+            double3 xformOp:translate = (1.78937807163, 8.75038617685, 0.757429627956)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999910658, -0.000507916834, 5.65712495e-05, -0.0133571705)
+            double3 xformOp:translate = (3.74667854561, 8.3850202368, 0.84103167666)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.489920079, -0.000303673216, -0.000411050355, -0.871767202)
+            double3 xformOp:translate = (3.39977497891, 8.56955540804, 0.743670835478)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992624751, -0.000495696091, 0.000124359165, 0.121226412)
+            double3 xformOp:translate = (3.56957181389, 8.29529975016, 0.76591477254)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.743056438, 0, 0, 0.669228758)
+            double3 xformOp:translate = (4.81203820494, 8.74779498474, 0.946799261469)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999819181, -0.000505820027, 7.29788799e-05, 0.0190090474)
+            double3 xformOp:translate = (2.36784980114, 8.24710919549, 0.741089191774)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0258110503, 5.0240234e-05, 0.000508582083, 0.999666709)
+            double3 xformOp:translate = (1.73381438562, 8.32454252777, 0.744644558697)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.839093225, -0.000459979461, -0.000222707682, -0.543987407)
+            double3 xformOp:translate = (3.65192105542, 8.52266096078, 0.794557087181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929424195, -0.000494702997, -0.000128252722, -0.369012743)
+            double3 xformOp:translate = (2.20350198055, 8.32364100351, 0.741032393805)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.90381603, -0.000485448554, -0.000159748295, -0.42792093)
+            double3 xformOp:translate = (3.13910648695, 8.29151185238, 0.74445586772)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.809564443, -0.000373354327, 0.000348979029, 0.587030792)
+            double3 xformOp:translate = (3.1831224163, 8.81562664573, 0.819118898306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96743183, -0.00047456412, 0.000189654192, 0.253131178)
+            double3 xformOp:translate = (1.96442549373, 8.71254995179, 0.819377852271)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.829862379, 0, 0, 0.557968128)
+            double3 xformOp:translate = (4.97340369701, 8.16303986011, 0.980874519698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.618208277, -0.000363297706, -0.000359436494, -0.786014164)
+            double3 xformOp:translate = (3.65429022488, 8.81063095268, 0.810526365227)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.215461242, -0.000171126416, -0.000481555361, -0.976512259)
+            double3 xformOp:translate = (3.10453793804, 8.88861362043, 0.817712775913)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.778045827, -0.000434356728, -0.000269284327, -0.628207315)
+            double3 xformOp:translate = (3.52440297102, 8.73160653243, 0.810622971198)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.694263652, -0.000397666866, -0.000320999813, -0.719720584)
+            double3 xformOp:translate = (2.56809740997, 8.87775474357, 0.775031006698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.590466037, -0.000350562586, -0.000371867839, -0.807062326)
+            double3 xformOp:translate = (2.16100683792, 8.89675330399, 0.801131031547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.675453923, -0.000389248281, -0.000331157956, -0.737402018)
+            double3 xformOp:translate = (2.00551560426, 8.59390181955, 0.78134692132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.939984086, -0.000455064589, 0.000232585546, 0.341217904)
+            double3 xformOp:translate = (1.94111636453, 8.39492362922, 0.766020057927)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998523668, -0.00050980823, 3.57125285e-05, -0.0543159575)
+            double3 xformOp:translate = (3.5061358592, 8.86257367349, 0.792078114673)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.954705272, -0.000502996399, -9.04126018e-05, -0.297552656)
+            double3 xformOp:translate = (2.83984863692, 8.29672603239, 0.745299338809)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999825597, -0.000505844853, 7.2806598e-05, 0.018668517)
+            double3 xformOp:translate = (1.7579280952, 8.52808175629, 0.818416289904)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0014/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0014/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..87f5962e84dc87657c998374839dd242455f75c2
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0014/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5359486054949711774,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 4,
+    "office_supplies": 1,
+    "electronics": 7,
+    "clock": 3,
+    "office_supply": 3,
+    "paper_goods": 2,
+    "book": 2,
+    "drinkware/container": 1,
+    "small_electronics": 1,
+    "timepiece": 2,
+    "small object": 4
+  },
+  "failed_sampling_attempt_count": 179,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.3901117075591527,
+        8.258084005524106,
+        0.7409485360447273
+      ],
+      "rotation_wxyz": [
+        0.8825857054229275,
+        -0.0004177889557667168,
+        0.00029433349228327537,
+        0.47015126438551413
+      ],
+      "yaw_degrees_local": 56.029529312827805,
+      "yaw_radians": 0.9789242447990876,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3901117075591527,
+        8.258084005524106,
+        0.7634455477585104
+      ],
+      "z_min": 0.7409485390396618,
+      "z_max": 0.7859425624672279
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.584516396697625,
+        8.459562305779073,
+        0.7407195619725736
+      ],
+      "rotation_wxyz": [
+        0.4875405093322209,
+        -0.0003025509450742516,
+        -0.0004118770955940495,
+        -0.8731002179476665
+      ],
+      "yaw_degrees_local": -121.70059370494084,
+      "yaw_radians": -2.1230515689034624,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.584516396697625,
+        8.459562305779073,
+        0.7907196558498891
+      ],
+      "z_min": 0.7407195619725736,
+      "z_max": 0.8407197497272046
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.264159841739923,
+        8.546619123745144,
+        0.7463616593824267
+      ],
+      "rotation_wxyz": [
+        0.7374599395444899,
+        -0.00033119133539817597,
+        0.0003892198807839671,
+        0.6753906842615032
+      ],
+      "yaw_degrees_local": 84.91029615015952,
+      "yaw_radians": 1.4829889458197354,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.264159841739923,
+        8.546619123745144,
+        0.7521927104072129
+      ],
+      "z_min": 0.740671858653102,
+      "z_max": 0.7523339607026744
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        2.561049999189251,
+        8.229316207593184,
+        0.7709909050317731
+      ],
+      "rotation_wxyz": [
+        0.7223404483601052,
+        -0.0003225010951210868,
+        0.000396450324613327,
+        0.6915374288374464
+      ],
+      "yaw_degrees_local": 87.44517036728598,
+      "yaw_radians": 1.5272308699767152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.561049999189251,
+        8.229316207593184,
+        0.8008745426494221
+      ],
+      "z_min": 0.7410827749361499,
+      "z_max": 0.8008500501714478
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.989294774796003,
+        8.290880892878114,
+        0.8221557902397787
+      ],
+      "rotation_wxyz": [
+        0.7380288758581063,
+        -0.0003315192401605217,
+        0.00038894062483070974,
+        0.6747689361698594
+      ],
+      "yaw_degrees_local": 84.81372194616387,
+      "yaw_radians": 1.4813034071092959,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.989294774796003,
+        8.290880892878114,
+        0.9033996435331437
+      ],
+      "z_min": 0.7409661017458921,
+      "z_max": 0.903453808332622
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        2.066991686673407,
+        8.269842892924471,
+        0.7490984925804025
+      ],
+      "rotation_wxyz": [
+        0.6430335541112672,
+        -0.00037460881879206585,
+        -0.0003476320599765301,
+        -0.7658378334263828
+      ],
+      "yaw_degrees_local": -100.02190240067112,
+      "yaw_radians": -1.7446868567511162,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.066991686673407,
+        8.269842892924471,
+        0.7571939179478366
+      ],
+      "z_min": 0.7411042577626511,
+      "z_max": 0.7572951084975194
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.9170096531640688,
+        8.493869642156758,
+        0.8182635991218792
+      ],
+      "rotation_wxyz": [
+        0.9999962971327633,
+        -0.0005072834098613302,
+        6.199482494349266e-05,
+        -0.0026729274113004332
+      ],
+      "yaw_degrees_local": -0.36500574321181034,
+      "yaw_radians": -0.005345923428213201,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9170096531640688,
+        8.493869642156758,
+        0.8956453542552186
+      ],
+      "z_min": 0.7408960817544958,
+      "z_max": 0.8956595920211747
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.7893780716342635,
+        8.750386176854374,
+        0.757429627956252
+      ],
+      "rotation_wxyz": [
+        0.10078164004797893,
+        -0.00011413596820092486,
+        -0.0004981493721798212,
+        -0.9949084379225174
+      ],
+      "yaw_degrees_local": -168.49034380006,
+      "yaw_radians": -2.9396867255618777,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7893780716342635,
+        8.750386176854374,
+        0.7743806431486575
+      ],
+      "z_min": 0.7406520538455997,
+      "z_max": 0.7745540842304106
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.7466785456089085,
+        8.38502023679529,
+        0.8410316766600674
+      ],
+      "rotation_wxyz": [
+        0.9999106584167633,
+        -0.0005079168337125711,
+        5.657124951518286e-05,
+        -0.0133571705364201
+      ],
+      "yaw_degrees_local": -1.58937513274401,
+      "yaw_radians": -0.026715189635143695,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7466785456089085,
+        8.38502023679529,
+        0.9412485567227173
+      ],
+      "z_min": 0.7407746711817889,
+      "z_max": 0.9412084313070889
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.399774978910696,
+        8.569555408037797,
+        0.7436708354781079
+      ],
+      "rotation_wxyz": [
+        0.4899200794267782,
+        -0.0003036732157572572,
+        -0.00041105035491039165,
+        -0.8717672020640851
+      ],
+      "yaw_degrees_local": -121.38804448226027,
+      "yaw_radians": -2.1175965540136015,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.399774978910696,
+        8.569555408037797,
+        0.7467828387219835
+      ],
+      "z_min": 0.7406314119612672,
+      "z_max": 0.7468554184490184
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.569571813894097,
+        8.295299750159828,
+        0.7659147725403826
+      ],
+      "rotation_wxyz": [
+        0.9926247507669156,
+        -0.0004956960905610555,
+        0.00012435916549574666,
+        0.12122641207716518
+      ],
+      "yaw_degrees_local": 13.86706656885184,
+      "yaw_radians": 0.24305048426311435,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.569571813894097,
+        8.295299750159828,
+        0.790859014110508
+      ],
+      "z_min": 0.7408880689103526,
+      "z_max": 0.7907765520506033
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        4.8120382049395545,
+        8.747794984739322,
+        0.9467992614689975
+      ],
+      "rotation_wxyz": [
+        0.743056437554032,
+        0.0,
+        0.0,
+        0.6692287580562503
+      ],
+      "yaw_degrees_local": -5.9848642895297814,
+      "yaw_radians": 1.466340739657571,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8120382049395545,
+        8.747794984739322,
+        0.9733737461250715
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9733489982084798
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.3678498011444784,
+        8.247109195494987,
+        0.7410891917740372
+      ],
+      "rotation_wxyz": [
+        0.9998191811212883,
+        -0.0005058200266153626,
+        7.297887992526631e-05,
+        0.019009047375930312
+      ],
+      "yaw_degrees_local": 2.1196974454678355,
+      "yaw_radians": 0.038020306393028884,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3678498011444784,
+        8.247109195494987,
+        0.7910892856513527
+      ],
+      "z_min": 0.7410891917740372,
+      "z_max": 0.8410893795286682
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        1.733814385623946,
+        8.324542527770731,
+        0.7446445586973165
+      ],
+      "rotation_wxyz": [
+        0.025811050260706535,
+        5.0240234043406014e-05,
+        0.0005085820829753801,
+        0.9996667087107699
+      ],
+      "yaw_degrees_local": 176.98323219484718,
+      "yaw_radians": 3.0899647749262718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.733814385623946,
+        8.324542527770731,
+        0.7482196192735363
+      ],
+      "z_min": 0.741090991250613,
+      "z_max": 0.7482411124030526
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.651921055418551,
+        8.522660960784172,
+        0.7945570871808035
+      ],
+      "rotation_wxyz": [
+        0.8390932248935258,
+        -0.0004599794610824199,
+        -0.0002227076820018545,
+        -0.5439874068008992
+      ],
+      "yaw_degrees_local": -65.96970749269056,
+      "yaw_radians": -1.1503636807041646,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.651921055418551,
+        8.522660960784172,
+        0.8484772894742018
+      ],
+      "z_min": 0.7406470532009772,
+      "z_max": 0.8484874577877737
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.203501980545089,
+        8.32364100351298,
+        0.7410323938047605
+      ],
+      "rotation_wxyz": [
+        0.9294241948569217,
+        -0.0004947029972436,
+        -0.00012825272222651392,
+        -0.3690127434584704
+      ],
+      "yaw_degrees_local": -43.3682033580732,
+      "yaw_radians": -0.7558930002281138,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.203501980545089,
+        8.32364100351298,
+        0.891032399765225
+      ],
+      "z_min": 0.7410323938047605,
+      "z_max": 1.0410324057256894
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.1391064869490273,
+        8.291511852375224,
+        0.7444558677203847
+      ],
+      "rotation_wxyz": [
+        0.9038160300118526,
+        -0.0004854485539124702,
+        -0.00015974829496618784,
+        -0.42792093044603235
+      ],
+      "yaw_degrees_local": -50.730096204018906,
+      "yaw_radians": -0.884382257646497,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1391064869490273,
+        8.291511852375224,
+        0.7480361472017099
+      ],
+      "z_min": 0.7409464399176325,
+      "z_max": 0.7481069988802826
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.183122416303526,
+        8.815626645727635,
+        0.8191188983061745
+      ],
+      "rotation_wxyz": [
+        0.8095644434893926,
+        -0.0003733543270833944,
+        0.000348979029009507,
+        0.5870307919163135
+      ],
+      "yaw_degrees_local": 71.83447259621516,
+      "yaw_radians": 1.2547726556364698,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.183122416303526,
+        8.815626645727635,
+        0.8978295611307964
+      ],
+      "z_min": 0.7404093282435493,
+      "z_max": 0.8978306538927933
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        1.9644254937318086,
+        8.712549951787066,
+        0.8193778522714443
+      ],
+      "rotation_wxyz": [
+        0.967431829868769,
+        -0.00047456411974378847,
+        0.00018965419186539454,
+        0.2531311782000577
+      ],
+      "yaw_degrees_local": 29.26704720984472,
+      "yaw_radians": 0.5118307766454466,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9644254937318086,
+        8.712549951787066,
+        0.8980885150960662
+      ],
+      "z_min": 0.7406682822088192,
+      "z_max": 0.8980896078580631
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        4.973403697010287,
+        8.163039860112935,
+        0.9808745196984141
+      ],
+      "rotation_wxyz": [
+        0.8298623791538926,
+        0.0,
+        0.0,
+        0.5579681278218687
+      ],
+      "yaw_degrees_local": -22.169207221226884,
+      "yaw_radians": 1.1838706682275846,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.973403697010287,
+        8.163039860112935,
+        1.0415013861536737
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.041453761806851
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.654290224882843,
+        8.810630952684631,
+        0.8105263652272953
+      ],
+      "rotation_wxyz": [
+        0.6182082768515753,
+        -0.0003632977060560749,
+        -0.00035943649371579734,
+        -0.786014163518947
+      ],
+      "yaw_degrees_local": -103.68787647419144,
+      "yaw_radians": -1.8086702075824848,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.654290224882843,
+        8.810630952684631,
+        0.8807027314592142
+      ],
+      "z_min": 0.7403546930870751,
+      "z_max": 0.8807074255509129
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.104537938035868,
+        8.888613620426439,
+        0.8177127759130731
+      ],
+      "rotation_wxyz": [
+        0.21546124214898804,
+        -0.00017112641634469121,
+        -0.0004815553611676813,
+        -0.9765122589869515
+      ],
+      "yaw_degrees_local": -155.1735295846643,
+      "yaw_radians": -2.707264547842167,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.104537938035868,
+        8.888613620426439,
+        0.8950945310464126
+      ],
+      "z_min": 0.7403452585456898,
+      "z_max": 0.8951087688123687
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.5244029710222016,
+        8.731606532430582,
+        0.8106229711977074
+      ],
+      "rotation_wxyz": [
+        0.7780458266231978,
+        -0.000434356728297909,
+        -0.0002692843271017626,
+        -0.6282073149004307
+      ],
+      "yaw_degrees_local": -77.8946924488307,
+      "yaw_radians": -1.358494000103271,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5244029710222016,
+        8.731606532430582,
+        0.8807993374296264
+      ],
+      "z_min": 0.7404512990574873,
+      "z_max": 0.880804031521325
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.5680974099681593,
+        8.877754743568206,
+        0.7750310066978461
+      ],
+      "rotation_wxyz": [
+        0.6942636524856036,
+        -0.00039766686632152425,
+        -0.0003209998125705552,
+        -0.7197205844336627
+      ],
+      "yaw_degrees_local": -92.12155830949442,
+      "yaw_radians": -1.6067997685746382,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5680974099681593,
+        8.877754743568206,
+        0.8096307336806814
+      ],
+      "z_min": 0.7404242172474628,
+      "z_max": 0.8096236712131333
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.161006837922261,
+        8.896753303985374,
+        0.8011310315465573
+      ],
+      "rotation_wxyz": [
+        0.5904660369990979,
+        -0.000350562586098269,
+        -0.00037186783871209723,
+        -0.8070623259518214
+      ],
+      "yaw_degrees_local": -107.67852631655744,
+      "yaw_radians": -1.8783202213890469,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.161006837922261,
+        8.896753303985374,
+        0.8617578980018169
+      ],
+      "z_min": 0.740456540744475,
+      "z_max": 0.8617102736549942
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.0055156042618694,
+        8.593901819548913,
+        0.7813469213198809
+      ],
+      "rotation_wxyz": [
+        0.6754539232463305,
+        -0.00038924828093124205,
+        -0.00033115795631750343,
+        -0.7374020181633113
+      ],
+      "yaw_degrees_local": -95.07987695882838,
+      "yaw_radians": -1.6584321960773112,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0055156042618694,
+        8.593901819548913,
+        0.8218969304594125
+      ],
+      "z_min": 0.740783392873316,
+      "z_max": 0.821883411152379
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        1.9411163645274154,
+        8.39492362922125,
+        0.7660200579265863
+      ],
+      "rotation_wxyz": [
+        0.9399840855224417,
+        -0.00045506458867504706,
+        0.0002325855463572981,
+        0.3412179036696684
+      ],
+      "yaw_degrees_local": 39.8434804470223,
+      "yaw_radians": 0.6964243488468665,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9411163645274154,
+        8.39492362922125,
+        0.7909642994967117
+      ],
+      "z_min": 0.7409933542965563,
+      "z_max": 0.790881837436807
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20339494477758824,
+        0.1107086488517261,
+        0.10351778344946472
+      ],
+      "bbox_min_m": [
+        -0.10167640403053668,
+        -0.055279065976485874,
+        -0.05175734185909191
+      ],
+      "bbox_max_m": [
+        0.1017185407470516,
+        0.05542958287524019,
+        0.051760441590372776
+      ],
+      "translation_world": [
+        3.506135859197987,
+        8.862573673494401,
+        0.7920781146725604
+      ],
+      "rotation_wxyz": [
+        0.9985236680113138,
+        -0.0005098082301700329,
+        3.571252849087286e-05,
+        -0.05431595752093372
+      ],
+      "yaw_degrees_local": -6.285925994577838,
+      "yaw_radians": -0.10868542316502977,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.506135859197987,
+        8.862573673494401,
+        0.8438370063972928
+      ],
+      "z_min": 0.7403207728134685,
+      "z_max": 0.8438385562629331
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.839848636922628,
+        8.296726032386426,
+        0.7452993388093975
+      ],
+      "rotation_wxyz": [
+        0.9547052715647585,
+        -0.0005029963992609373,
+        -9.041260183649367e-05,
+        -0.29755265629236904
+      ],
+      "yaw_degrees_local": -34.68005334101949,
+      "yaw_radians": -0.6042562114972129,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.839848636922628,
+        8.296726032386426,
+        0.7494359401695245
+      ],
+      "z_min": 0.74097906825693,
+      "z_max": 0.7492522709771842
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        1.7579280951980902,
+        8.52808175628661,
+        0.8184162899043232
+      ],
+      "rotation_wxyz": [
+        0.9998255974379108,
+        -0.0005058448532144341,
+        7.280659803053752e-05,
+        0.018668517030256317
+      ],
+      "yaw_degrees_local": 2.0806686106990924,
+      "yaw_radians": 0.037339125060414965,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7579280951980902,
+        8.52808175628661,
+        0.8961231237377557
+      ],
+      "z_min": 0.7408815386264774,
+      "z_max": 0.8962952062933424
+    }
+  ],
+  "variant_index": 14
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0016/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0016/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..0dbd97a91409796a638458669293d3ee5f5cc706
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0016/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7543590108966272481
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99799472, -0.00051010883, 3.11255227e-05, -0.0632951597)
+            double3 xformOp:translate = (3.49264415178, 8.82218743125, 0.74005971983)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.614752614, -0.00026178503, 0.000438917321, 0.788719825)
+            double3 xformOp:translate = (3.46631577476, 8.67903555537, 0.740511941292)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.708077836, -0.000314343583, 0.000402949039, 0.706134206)
+            double3 xformOp:translate = (1.71481672008, 8.76281590752, 0.745946209382)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983834409, -0.000510262933, -2.84878069e-05, -0.179079854)
+            double3 xformOp:translate = (2.45594156177, 8.23336894654, 0.793769917661)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993769721, -0.000496895957, 0.000119474785, 0.111451694)
+            double3 xformOp:translate = (3.1818202262, 8.52578758911, 0.747684423461)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.474721763, -0.000296496061, -0.000416257015, -0.880135777)
+            double3 xformOp:translate = (1.95004384624, 8.77378633641, 0.772439864663)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999928932, -0.00050783448, 5.73058242e-05, -0.0119109194)
+            double3 xformOp:translate = (2.16057420408, 8.38064220149, 0.818514812132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99855607, 0, 0, 0.0537194013)
+            double3 xformOp:translate = (4.82712546425, 8.57717028584, 0.960763557343)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.337709206, -0.000111629005, 0.000498717136, 0.941250355)
+            double3 xformOp:translate = (3.34975835906, 8.38152299991, 0.822018186958)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99759357, -0.000501503451, 9.83570269e-05, 0.069331149)
+            double3 xformOp:translate = (3.29557702219, 8.21305433473, 0.746734691501)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.887395553, -0.000479217586, -0.000177567794, -0.461008537)
+            double3 xformOp:translate = (3.03285780217, 8.30713574039, 0.746884309427)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.406822901, -0.000264177543, -0.000437481476, -0.913506906)
+            double3 xformOp:translate = (1.83783635851, 8.33060658962, 0.749468269865)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.884881574, -0.000478247248, -0.000180164885, -0.465815778)
+            double3 xformOp:translate = (2.76308759075, 8.26068500588, 0.771617362393)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.653242277, -0.000379235368, -0.000342578971, -0.757148774)
+            double3 xformOp:translate = (3.64836837961, 8.88374538444, 0.810452960522)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0380579525, -8.2604435e-05, -0.00050433751, -0.999275403)
+            double3 xformOp:translate = (1.99150020777, 8.23556244254, 0.811320295573)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.211273522, -0.000169060696, -0.000482284457, -0.977426845)
+            double3 xformOp:translate = (2.93387222933, 8.88884740172, 0.796526554066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.211197436, -4.51800259e-05, 0.00050905656, 0.977443288)
+            double3 xformOp:translate = (3.48647628772, 8.39151414625, 0.78015809447)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999839619, -0.000508168714, 5.42620892e-05, -0.0179018115)
+            double3 xformOp:translate = (3.65483291096, 8.5889700685, 0.76074064036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0222062055, 5.20737927e-05, 0.000508397616, 0.999753281)
+            double3 xformOp:translate = (1.927407404, 8.56872996599, 0.74081879519)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.775861475, 0, 0, -0.630903299)
+            double3 xformOp:translate = (4.91406342982, 8.12304491834, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.026237981, 5.00230266e-05, 0.000508603493, 0.999655594)
+            double3 xformOp:translate = (3.27261522759, 8.57921145012, 0.882272665411)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0522079591, -8.97396292e-05, -0.0005031169, -0.998636104)
+            double3 xformOp:translate = (2.78249724116, 8.85237026016, 0.787013038433)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.148333801, 0, 0, 0.988937351)
+            double3 xformOp:translate = (4.97841667215, 8.466794597, 1.02041951546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.534897802, -0.000324781137, -0.000394584629, -0.844916611)
+            double3 xformOp:translate = (2.52600967956, 8.3297005132, 0.775592193496)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.815578529, -0.000376935335, 0.000345108054, 0.578646181)
+            double3 xformOp:translate = (3.4127457573, 8.54913820117, 0.822561394165)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.151121205, -0.000139258944, -0.000491718174, -0.988515109)
+            double3 xformOp:translate = (2.27421755936, 8.24683917111, 0.835974874812)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.699486233, -0.000399993835, -0.000318095501, -0.714645891)
+            double3 xformOp:translate = (3.73754999032, 8.89384040038, 0.821449444531)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00602737598, 6.02928061e-05, 0.000507488516, 0.999981705)
+            double3 xformOp:translate = (3.16151321946, 8.84309725405, 0.748396937274)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.821791262, -0.000380647055, 0.00034100973, 0.569788435)
+            double3 xformOp:translate = (3.53272045689, 8.23694029553, 0.746641718684)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.242215085, -6.13670149e-05, 0.00050735974, 0.970222444)
+            double3 xformOp:translate = (2.21619715832, 8.85562444001, 0.788071058558)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0016/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0016/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e39c9d557f4013b937ad83e48150e52e4bcc88e0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0016/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7543590108966272481,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 4,
+    "drinkware": 7,
+    "office_supply": 4,
+    "small object": 7,
+    "clock": 4,
+    "electronics": 2,
+    "office_supplies": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 205,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.4926441517822235,
+        8.822187431246256,
+        0.7400597198299058
+      ],
+      "rotation_wxyz": [
+        0.997994720216679,
+        -0.0005101088296422365,
+        3.112552266774501e-05,
+        -0.06329515968710724
+      ],
+      "yaw_degrees_local": -7.31665412987968,
+      "yaw_radians": -0.12667501342327303,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4926441517822235,
+        8.822187431246256,
+        0.7488717872344116
+      ],
+      "z_min": 0.7403634160597269,
+      "z_max": 0.7579875508687385
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.466315774758405,
+        8.679035555370792,
+        0.7405119412919979
+      ],
+      "rotation_wxyz": [
+        0.6147526138289376,
+        -0.0002617850298912043,
+        0.00043891732064840403,
+        0.7887198251664993
+      ],
+      "yaw_degrees_local": 104.07338397840613,
+      "yaw_radians": 1.8174480807061613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.466315774758405,
+        8.679035555370792,
+        0.7905120351693135
+      ],
+      "z_min": 0.7405119412919979,
+      "z_max": 0.840512129046629
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        1.7148167200800515,
+        8.76281590751521,
+        0.7459462093820585
+      ],
+      "rotation_wxyz": [
+        0.7080778360293207,
+        -0.00031434358305878476,
+        0.00040294903899882613,
+        0.7061342060431702
+      ],
+      "yaw_degrees_local": 89.78380014957116,
+      "yaw_radians": 1.568047680543483,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7148167200800515,
+        8.76281590751521,
+        0.7512958652817083
+      ],
+      "z_min": 0.7406488882227652,
+      "z_max": 0.7513482000220649
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.4559415617745595,
+        8.233368946542218,
+        0.7937699176610569
+      ],
+      "rotation_wxyz": [
+        0.9838344091239817,
+        -0.0005102629332982167,
+        -2.848780690422249e-05,
+        -0.17907985437745297
+      ],
+      "yaw_degrees_local": -20.691050185359046,
+      "yaw_radians": -0.3601021426406776,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4559415617745595,
+        8.233368946542218,
+        0.846318946520275
+      ],
+      "z_min": 0.7410919937687143,
+      "z_max": 0.8461900514871505
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.1818202262030626,
+        8.52578758910662,
+        0.7476844234607342
+      ],
+      "rotation_wxyz": [
+        0.9937697211258587,
+        -0.000496895956975937,
+        0.00011947478470907756,
+        0.11145169444031326
+      ],
+      "yaw_degrees_local": 12.739303571019036,
+      "yaw_radians": 0.22336731453206665,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1818202262030626,
+        8.52578758910662,
+        0.7546677042695747
+      ],
+      "z_min": 0.7407034198618523,
+      "z_max": 0.7546699814795336
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        1.9500438462378427,
+        8.77378633641267,
+        0.7724398646628564
+      ],
+      "rotation_wxyz": [
+        0.4747217627757021,
+        -0.00029649606067660175,
+        -0.0004162570146478849,
+        -0.8801357774612472
+      ],
+      "yaw_degrees_local": -123.3762311916478,
+      "yaw_radians": -2.152296969787156,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9500438462378427,
+        8.77378633641267,
+        0.8042910824063283
+      ],
+      "z_min": 0.7406079719809376,
+      "z_max": 0.8043104074678814
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.160574204083055,
+        8.380642201487639,
+        0.8185148121318914
+      ],
+      "rotation_wxyz": [
+        0.9999289318848639,
+        -0.0005078344796809341,
+        5.7305824202323023e-05,
+        -0.011910919350715513
+      ],
+      "yaw_degrees_local": -1.423633690254917,
+      "yaw_radians": -0.023822457238220344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.160574204083055,
+        8.380642201487639,
+        0.8962216459653238
+      ],
+      "z_min": 0.7409800608540456,
+      "z_max": 0.8963937285209105
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        4.827125464248494,
+        8.577170285837159,
+        0.9607635573428968
+      ],
+      "rotation_wxyz": [
+        0.998556070496877,
+        0.0,
+        0.0,
+        0.05371940127957703
+      ],
+      "yaw_degrees_local": -83.84124550286965,
+      "yaw_radians": 0.10749054379693244,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.827125464248494,
+        8.577170285837159,
+        1.0013135664824282
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0013000471753948
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.3497583590560813,
+        8.381522999906878,
+        0.8220181869582099
+      ],
+      "rotation_wxyz": [
+        0.3377092055363689,
+        -0.00011162900496717297,
+        0.0004987171357496667,
+        0.9412503552807715
+      ],
+      "yaw_degrees_local": 140.4665485998177,
+      "yaw_radians": 2.4526286882447903,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3497583590560813,
+        8.381522999906878,
+        0.903262040251575
+      ],
+      "z_min": 0.7408284984643233,
+      "z_max": 0.9033162050510533
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.2955770221872256,
+        8.213054334730074,
+        0.7467346915008182
+      ],
+      "rotation_wxyz": [
+        0.9975935698443138,
+        -0.0005015034511265711,
+        9.835702693987642e-05,
+        0.06933114902742017
+      ],
+      "yaw_degrees_local": 7.8924337104412245,
+      "yaw_radians": 0.1387735132073637,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2955770221872256,
+        8.213054334730074,
+        0.752361818391037
+      ],
+      "z_min": 0.7410061902236136,
+      "z_max": 0.7522604440040512
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.032857802171686,
+        8.307135740387828,
+        0.7468843094271537
+      ],
+      "rotation_wxyz": [
+        0.8873955530400902,
+        -0.000479217585900058,
+        -0.00017756779438972916,
+        -0.4610085370845712
+      ],
+      "yaw_degrees_local": -54.96312964214383,
+      "yaw_radians": -0.9582626293867083,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.032857802171686,
+        8.307135740387828,
+        0.752701522193726
+      ],
+      "z_min": 0.740944056764844,
+      "z_max": 0.7525784822979886
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17380813937179584,
+        0.236489187911067,
+        0.01690050466925439
+      ],
+      "bbox_min_m": [
+        -0.08672204870025906,
+        -0.11819200461569901,
+        -0.008396606151328739
+      ],
+      "bbox_max_m": [
+        0.08708609067153673,
+        0.11829718329536795,
+        0.00850389851792564
+      ],
+      "translation_world": [
+        1.8378363585086948,
+        8.330606589623251,
+        0.749468269864582
+      ],
+      "rotation_wxyz": [
+        0.4068229005283692,
+        -0.0002641775433253649,
+        -0.0004374814759997131,
+        -0.9135069055162466
+      ],
+      "yaw_degrees_local": -132.04788373096898,
+      "yaw_radians": -2.303645896290858,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8378363585086948,
+        8.330606589623251,
+        0.7579185221992092
+      ],
+      "z_min": 0.7410716637132533,
+      "z_max": 0.7579721683825077
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.7630875907480292,
+        8.260685005880124,
+        0.7716173623929471
+      ],
+      "rotation_wxyz": [
+        0.8848815740189864,
+        -0.00047824724833318464,
+        -0.00018016488476406786,
+        -0.4658157777296354
+      ],
+      "yaw_degrees_local": -55.584779428992746,
+      "yaw_radians": -0.9691124655725476,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7630875907480292,
+        8.260685005880124,
+        0.8022197638983398
+      ],
+      "z_min": 0.7410253616595716,
+      "z_max": 0.8022301646703571
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.6483683796123643,
+        8.883745384440537,
+        0.8104529605224086
+      ],
+      "rotation_wxyz": [
+        0.6532422770894141,
+        -0.0003792353684799825,
+        -0.0003425789712375302,
+        -0.7571487741806238
+      ],
+      "yaw_degrees_local": -98.48568933670799,
+      "yaw_radians": -1.717874866805683,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6483683796123643,
+        8.883745384440537,
+        0.8806293267543275
+      ],
+      "z_min": 0.7402812883821884,
+      "z_max": 0.8806340208460262
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        1.9915002077696227,
+        8.235562442542955,
+        0.8113202955726623
+      ],
+      "rotation_wxyz": [
+        0.038057952457872954,
+        -8.260443500268039e-05,
+        -0.0005043375095689399,
+        -0.9992754030170553
+      ],
+      "yaw_degrees_local": -175.69653627704145,
+      "yaw_radians": -3.0654584541698546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9915002077696227,
+        8.235562442542955,
+        0.8814966618045812
+      ],
+      "z_min": 0.7411486234324421,
+      "z_max": 0.8815013558962799
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.9338722293330375,
+        8.888847401718062,
+        0.7965265540656563
+      ],
+      "rotation_wxyz": [
+        0.21127352238106403,
+        -0.0001690606963588596,
+        -0.0004822844567130171,
+        -0.9774268451198186
+      ],
+      "yaw_degrees_local": -155.66471848733806,
+      "yaw_radians": -2.715837409446416,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9338722293330375,
+        8.888847401718062,
+        0.852708833875549
+      ],
+      "z_min": 0.7403666338956921,
+      "z_max": 0.8527311935154774
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.4864762877164597,
+        8.391514146249579,
+        0.7801580944702011
+      ],
+      "rotation_wxyz": [
+        0.21119743590268766,
+        -4.518002594883181e-05,
+        0.0005090565602126894,
+        0.9774432883233247
+      ],
+      "yaw_degrees_local": 155.5562177995908,
+      "yaw_radians": 2.715993010715625,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4864762877164597,
+        8.391514146249579,
+        0.8193981693100924
+      ],
+      "z_min": 0.7408010209557905,
+      "z_max": 0.819281170635573
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        3.654832910956846,
+        8.588970068503059,
+        0.7607406403597275
+      ],
+      "rotation_wxyz": [
+        0.999839619122261,
+        -0.0005081687140262207,
+        5.4262089208302945e-05,
+        -0.017901811462414537
+      ],
+      "yaw_degrees_local": -2.1102167580384616,
+      "yaw_radians": -0.03580558621151172,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.654832910956846,
+        8.588970068503059,
+        0.7807712700443361
+      ],
+      "z_min": 0.7405794138058927,
+      "z_max": 0.7806406731751098
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.9274074039984286,
+        8.568729965988716,
+        0.740818795189951
+      ],
+      "rotation_wxyz": [
+        0.022206205518509717,
+        5.207379274577167e-05,
+        0.0005083976163883767,
+        0.9997532811932421
+      ],
+      "yaw_degrees_local": 177.396436357604,
+      "yaw_radians": 3.0971765443259462,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9274074039984286,
+        8.568729965988716,
+        0.763315806903734
+      ],
+      "z_min": 0.7408187981848855,
+      "z_max": 0.7858128216124516
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.914063429817557,
+        8.123044918339119,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.7758614745853731,
+        0.0,
+        0.0,
+        -0.6309032986553571
+      ],
+      "yaw_degrees_local": -168.23359551704394,
+      "yaw_radians": -1.3654338274458924,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.914063429817557,
+        8.123044918339119,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.2726152275895055,
+        8.579211450124921,
+        0.882272665411462
+      ],
+      "rotation_wxyz": [
+        0.02623798099382756,
+        5.002302655114406e-05,
+        0.000508603492963798,
+        0.9996555942791254
+      ],
+      "yaw_degrees_local": 176.93429295429775,
+      "yaw_radians": 3.089110624486786,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2726152275895055,
+        8.579211450124921,
+        1.0238334526072135
+      ],
+      "z_min": 0.7406378021723414,
+      "z_max": 1.0237593765638444
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.782497241161696,
+        8.852370260157516,
+        0.7870130384328856
+      ],
+      "rotation_wxyz": [
+        0.05220795906932478,
+        -8.973962918382586e-05,
+        -0.000503116900127855,
+        -0.9986361038085894
+      ],
+      "yaw_degrees_local": -174.0733971120592,
+      "yaw_radians": -3.0371293449771097,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.782497241161696,
+        8.852370260157516,
+        0.8335946416988036
+      ],
+      "z_min": 0.7404228045681855,
+      "z_max": 0.8335860111000215
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        4.978416672145471,
+        8.46679459699656,
+        1.0204195154605271
+      ],
+      "rotation_wxyz": [
+        -0.1483338011339564,
+        0.0,
+        0.0,
+        0.9889373506148669
+      ],
+      "yaw_degrees_local": 107.06076045308174,
+      "yaw_radians": -2.8438262107894774,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.978416672145471,
+        8.46679459699656,
+        1.1205082165525402
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.1203774310803578
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.5260096795623594,
+        8.32970051320427,
+        0.7755921934958266
+      ],
+      "rotation_wxyz": [
+        0.5348978019081527,
+        -0.0003247811369909475,
+        -0.00039458462881260335,
+        -0.8449166114676705
+      ],
+      "yaw_degrees_local": -115.38473923252346,
+      "yaw_radians": -2.012819071069559,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5260096795623594,
+        8.32970051320427,
+        0.810191920478662
+      ],
+      "z_min": 0.7409854040454433,
+      "z_max": 0.8101848580111138
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.4127457572955677,
+        8.549138201173713,
+        0.8225613941650989
+      ],
+      "rotation_wxyz": [
+        0.815578528577232,
+        -0.0003769353352668082,
+        0.00034510805448092845,
+        0.5786461807909744
+      ],
+      "yaw_degrees_local": 70.65205707674392,
+      "yaw_radians": 1.2341356017841199,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4127457572955677,
+        8.549138201173713,
+        0.9044974032059178
+      ],
+      "z_min": 0.7406505175365716,
+      "z_max": 0.9045225356182094
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.2742175593589216,
+        8.246839171111802,
+        0.8359748748119218
+      ],
+      "rotation_wxyz": [
+        0.1511212045721254,
+        -0.00013925894372629108,
+        -0.0004917181741938672,
+        -0.9885151088116224
+      ],
+      "yaw_degrees_local": -162.67489296105714,
+      "yaw_radians": -2.838187999520256,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2742175593589216,
+        8.246839171111802,
+        0.9308717208761254
+      ],
+      "z_min": 0.7411013785095071,
+      "z_max": 0.9308950706379143
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.7375499903211047,
+        8.893840400377966,
+        0.8214494445314529
+      ],
+      "rotation_wxyz": [
+        0.6994862326773543,
+        -0.0003999938354634698,
+        -0.0003180955011180373,
+        -0.7146458907144335
+      ],
+      "yaw_degrees_local": -91.28709797866206,
+      "yaw_radians": -1.5922356808554186,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7375499903211047,
+        8.893840400377966,
+        0.9026932978248179
+      ],
+      "z_min": 0.7402597560375662,
+      "z_max": 0.9027474626242962
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.161513219460916,
+        8.843097254050182,
+        0.7483969372744965
+      ],
+      "rotation_wxyz": [
+        0.006027375976102553,
+        6.0292806107782005e-05,
+        0.0005074885159015542,
+        0.9999817046121527
+      ],
+      "yaw_degrees_local": 179.25059889850968,
+      "yaw_radians": 3.1295377689414905,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.161513219460916,
+        8.843097254050182,
+        0.7562262764593145
+      ],
+      "z_min": 0.7403841676489338,
+      "z_max": 0.7560428460185697
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.5327204568859734,
+        8.236940295529433,
+        0.7466417186838166
+      ],
+      "rotation_wxyz": [
+        0.8217912622285569,
+        -0.00038064705467335977,
+        0.000341009730079376,
+        0.5697884345482795
+      ],
+      "yaw_degrees_local": 69.412247895418,
+      "yaw_radians": 1.2124968392787476,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5327204568859734,
+        8.236940295529433,
+        0.7524727697086028
+      ],
+      "z_min": 0.7409519179544919,
+      "z_max": 0.7526140200040643
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.2161971583234026,
+        8.855624440010613,
+        0.788071058558466
+      ],
+      "rotation_wxyz": [
+        0.24221508451578294,
+        -6.136701487264719e-05,
+        0.0005073597399537461,
+        0.9702224444183901
+      ],
+      "yaw_degrees_local": 151.9066590396019,
+      "yaw_radians": 2.6522962202464546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2161971583234026,
+        8.855624440010613,
+        0.8354699839865665
+      ],
+      "z_min": 0.7404912554461663,
+      "z_max": 0.8352891063023673
+    }
+  ],
+  "variant_index": 16
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0020/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0020/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..d8c347ed48606cd060ffef9bdcc6b95b3158d6e9
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0020/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8915679049851844547
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.666014825, -0.000385002344, -0.000336084828, -0.74593833)
+            double3 xformOp:translate = (3.67253987169, 8.69059314582, 0.740474090388)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.720364823, -0.000409248127, -0.000306097675, -0.69359517)
+            double3 xformOp:translate = (1.86629970874, 8.47846035533, 0.740918091947)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989601067, -0.000510954728, -1.0250951e-05, -0.143838338)
+            double3 xformOp:translate = (3.16486570111, 8.85873597204, 0.786944801071)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.190728298, -3.45337622e-05, 0.000509889435, 0.981642733)
+            double3 xformOp:translate = (1.74979841161, 8.76368128514, 0.787966655177)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.442293303, -0.000281111214, -0.000426797729, -0.896870321)
+            double3 xformOp:translate = (1.97437800864, 8.76064874286, 0.870569427755)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.944518144, -0.000458172175, 0.00022640246, 0.328458847)
+            double3 xformOp:translate = (2.12019630977, 8.8715609634, 0.779833215183)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.641999364, -0.0003741393, -0.00034813733, -0.766704999)
+            double3 xformOp:translate = (3.51494449842, 8.68816264891, 0.817864080767)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.504871102, -0.000310712038, -0.000405755894, -0.863194595)
+            double3 xformOp:translate = (3.43191707819, 8.78817917299, 0.817940394455)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.712852346, -0.00040592742, -0.000310487916, -0.701313961)
+            double3 xformOp:translate = (3.17533784399, 8.35625061455, 0.750425721627)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982549547, -0.000486483331, 0.000156568788, 0.186000339)
+            double3 xformOp:translate = (3.66506928155, 8.42148463524, 0.787338233632)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.397414389, -0.000259668115, -0.000440173019, -0.917639113)
+            double3 xformOp:translate = (1.82153510367, 8.64020710474, 0.812042295015)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.337638693, -0.000111591645, 0.000498725497, 0.941275651)
+            double3 xformOp:translate = (1.68982953098, 8.86339989592, 0.840807093691)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.394898882, -0.000258461218, -0.000440882768, -0.918724448)
+            double3 xformOp:translate = (3.4320350604, 8.49085038014, 0.747688155402)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.951414808, -0.000462971258, 0.000216419571, 0.30791168)
+            double3 xformOp:translate = (2.01489337569, 8.68270023059, 0.745945271718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990707939, -0.000493787776, 0.000131732487, 0.136005581)
+            double3 xformOp:translate = (3.28260280002, 8.4469770431, 0.816920145407)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999999683, -0.000507154474, 6.3040909e-05, -0.00061053998)
+            double3 xformOp:translate = (2.38862350094, 8.2739390066, 0.767658594532)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.192467032, -0.000159769201, -0.000485441674, -0.981303307)
+            double3 xformOp:translate = (3.69542714117, 8.28639080877, 0.746178469488)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.780603266, 0, 0, 0.625026833)
+            double3 xformOp:translate = (4.87749526624, 8.13741272093, 0.923753596343)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.921434612, -0.000442660409, 0.000255404735, 0.388533132)
+            double3 xformOp:translate = (2.06108417092, 8.26563079634, 0.744618703755)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985913131, -0.000489376433, 0.000147277029, 0.1672574)
+            double3 xformOp:translate = (1.73861197916, 8.34313651165, 0.787648446579)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.77316157, -0.000432260047, -0.000272637246, -0.634208897)
+            double3 xformOp:translate = (3.56734767609, 8.42982284053, 0.743791325096)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.714642522, -0.000406719677, -0.000309449383, -0.699489675)
+            double3 xformOp:translate = (2.35553965518, 8.89680115496, 0.740431812993)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.21429913, -4.6795728e-05, 0.000508910578, 0.976767947)
+            double3 xformOp:translate = (3.45501984174, 8.26463261448, 0.775899794548)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.664246942, -0.000289494866, 0.000421156193, 0.747513036)
+            double3 xformOp:translate = (2.82940458539, 8.24118027932, 0.744546155199)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99996954, -0.000507593905, 5.93990188e-05, -0.00778834725)
+            double3 xformOp:translate = (2.55319943486, 8.28439393304, 0.819737503565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.418289384, -0.000269663386, -0.000434121497, -0.908313674)
+            double3 xformOp:translate = (3.58723715118, 8.83000955735, 0.817711055508)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.693303679, -0.000397238634, -0.0003215296, -0.720645369)
+            double3 xformOp:translate = (2.96754809864, 8.27398737841, 0.818520740389)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.871590298, -0.000410940711, 0.000303821573, 0.490234731)
+            double3 xformOp:translate = (1.89708572928, 8.29973099872, 0.751542812363)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.73252942, 0, 0, -0.680735374)
+            double3 xformOp:translate = (4.96407694573, 8.40847109234, 0.925453176565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997663959, -0.000501603786, 9.78440475e-05, 0.0683107934)
+            double3 xformOp:translate = (2.56329151114, 8.85719487002, 0.835319206429)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0020/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0020/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ffec491a5d4c087af0eeece7578fe820cd05c2e
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0020/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8915679049851844547,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 7,
+    "small object": 3,
+    "paper_goods": 2,
+    "clock": 5,
+    "drinkware/container": 1,
+    "office_supply": 1,
+    "writing_instrument": 2,
+    "book": 1,
+    "timepiece": 1
+  },
+  "failed_sampling_attempt_count": 287,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.6725398716861535,
+        8.690593145818784,
+        0.740474090387735
+      ],
+      "rotation_wxyz": [
+        0.6660148248534228,
+        -0.0003850023435080462,
+        -0.0003360848281812569,
+        -0.7459383298206685
+      ],
+      "yaw_degrees_local": -96.53824273827759,
+      "yaw_radians": -1.6838854939062464,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6725398716861535,
+        8.690593145818784,
+        0.917974085023317
+      ],
+      "z_min": 0.740474090387735,
+      "z_max": 1.0954740796588989
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.8662997087443702,
+        8.478460355325304,
+        0.7409180919471798
+      ],
+      "rotation_wxyz": [
+        0.7203648233843545,
+        -0.000409248127362329,
+        -0.0003060976747555256,
+        -0.6935951701465429
+      ],
+      "yaw_degrees_local": -87.8894765778997,
+      "yaw_radians": -1.5329359707987587,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8662997087443702,
+        8.478460355325304,
+        0.7634151036609629
+      ],
+      "z_min": 0.7409180949421144,
+      "z_max": 0.7859121183696804
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.1648657011122117,
+        8.858735972039835,
+        0.7869448010714684
+      ],
+      "rotation_wxyz": [
+        0.9896010666926242,
+        -0.0005109547281748098,
+        -1.025095098607162e-05,
+        -0.14383833849500804
+      ],
+      "yaw_degrees_local": -16.59874406182854,
+      "yaw_radians": -0.28867796111710103,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1648657011122117,
+        8.858735972039835,
+        0.8333119692073533
+      ],
+      "z_min": 0.7403679017391095,
+      "z_max": 0.8331022380108793
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.7497984116103904,
+        8.763681285138423,
+        0.7879666551767313
+      ],
+      "rotation_wxyz": [
+        0.19072829752916898,
+        -3.4533762162887506e-05,
+        0.0005098894345945891,
+        0.9816427330458922
+      ],
+      "yaw_degrees_local": 157.95070696883937,
+      "yaw_radians": 2.757784712141748,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7497984116103904,
+        8.763681285138423,
+        0.8353327818379862
+      ],
+      "z_min": 0.7406436002619815,
+      "z_max": 0.8353758535844915
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.9743780086352347,
+        8.760648742862278,
+        0.8705694277546185
+      ],
+      "rotation_wxyz": [
+        0.4422933027457588,
+        -0.00028111121360705957,
+        -0.0004267977294043148,
+        -0.8968703212652499
+      ],
+      "yaw_degrees_local": -127.55811370582353,
+      "yaw_radians": -2.2252846095735483,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9743780086352347,
+        8.760648742862278,
+        1.0007365772693877
+      ],
+      "z_min": 0.7406182646389823,
+      "z_max": 1.0009525636685206
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.120196309766685,
+        8.871560963398792,
+        0.7798332151833324
+      ],
+      "rotation_wxyz": [
+        0.9445181440632072,
+        -0.0004581721752665869,
+        0.00022640246034837292,
+        0.32845884727858776
+      ],
+      "yaw_degrees_local": 38.2918157148992,
+      "yaw_radians": 0.6693426897687251,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.120196309766685,
+        8.871560963398792,
+        0.8191820745092082
+      ],
+      "z_min": 0.740487251225396,
+      "z_max": 0.8191849698771477
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.5149444984166696,
+        8.688162648907051,
+        0.817864080767348
+      ],
+      "rotation_wxyz": [
+        0.6419993638876571,
+        -0.0003741392998424041,
+        -0.000348137330020422,
+        -0.7667049990628909
+      ],
+      "yaw_degrees_local": -100.17655967947825,
+      "yaw_radians": -1.7473861368811516,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5149444984166696,
+        8.688162648907051,
+        0.8952458359006874
+      ],
+      "z_min": 0.7404965633999646,
+      "z_max": 0.8952600736666435
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        3.431917078194088,
+        8.788179172994706,
+        0.8179403944553352
+      ],
+      "rotation_wxyz": [
+        0.5048711017046587,
+        -0.00031071203842207617,
+        -0.00040575589388191374,
+        -0.8631945953744776
+      ],
+      "yaw_degrees_local": -119.41310930308438,
+      "yaw_radians": -2.083127420218825,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.431917078194088,
+        8.788179172994706,
+        0.8956472282887676
+      ],
+      "z_min": 0.7404056431774894,
+      "z_max": 0.8958193108443543
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.17533784399246,
+        8.356250614546987,
+        0.7504257216274887
+      ],
+      "rotation_wxyz": [
+        0.7128523457020798,
+        -0.00040592741966267743,
+        -0.0003104879163611897,
+        -0.7013139611095921
+      ],
+      "yaw_degrees_local": -89.12376229220125,
+      "yaw_radians": -1.5544783311639447,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.17533784399246,
+        8.356250614546987,
+        0.7599295545496931
+      ],
+      "z_min": 0.7408761923834897,
+      "z_max": 0.7598838582278984
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.665069281551581,
+        8.421484635240931,
+        0.7873382336320793
+      ],
+      "rotation_wxyz": [
+        0.9825495472059478,
+        -0.0004864833305876559,
+        0.00015656878776005803,
+        0.1860003389931616
+      ],
+      "yaw_degrees_local": 21.380212257161787,
+      "yaw_radians": 0.37417956944476044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.665069281551581,
+        8.421484635240931,
+        0.8339198368979973
+      ],
+      "z_min": 0.7407479997673793,
+      "z_max": 0.8339112062992152
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        1.8215351036709237,
+        8.640207104736582,
+        0.8120422950152462
+      ],
+      "rotation_wxyz": [
+        0.3974143890373976,
+        -0.00025966811463166696,
+        -0.0004401730188050468,
+        -0.9176391132717786
+      ],
+      "yaw_degrees_local": -133.22542664839153,
+      "yaw_radians": -2.324197900793461,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8215351036709237,
+        8.640207104736582,
+        0.8835205417453142
+      ],
+      "z_min": 0.7407597551450356,
+      "z_max": 0.8837162486051715
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.6898295309826237,
+        8.86339989591737,
+        0.8408070936914639
+      ],
+      "rotation_wxyz": [
+        0.33763869337749874,
+        -0.0001115916446156436,
+        0.0004987254967337127,
+        0.9412756512066588
+      ],
+      "yaw_degrees_local": 140.4751329149173,
+      "yaw_radians": 2.4527785127738606,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6898295309826237,
+        8.86339989591737,
+        0.941023973754114
+      ],
+      "z_min": 0.7405500882131854,
+      "z_max": 0.9409838483384854
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.4320350604040146,
+        8.490850380142188,
+        0.7476881554024156
+      ],
+      "rotation_wxyz": [
+        0.3948988824751727,
+        -0.00025846121766402974,
+        -0.0004408827680959414,
+        -0.9187244480474239
+      ],
+      "yaw_degrees_local": -133.5393684456261,
+      "yaw_radians": -2.3296772196799775,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4320350604040146,
+        8.490850380142188,
+        0.7546714362112562
+      ],
+      "z_min": 0.7407071518035337,
+      "z_max": 0.754673713421215
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.0148933756948937,
+        8.682700230594827,
+        0.7459452717177397
+      ],
+      "rotation_wxyz": [
+        0.9514148076942336,
+        -0.0004629712576729861,
+        0.00021641957122452247,
+        0.30791167974003275
+      ],
+      "yaw_degrees_local": 35.808141611181384,
+      "yaw_radians": 0.6259943997211788,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0148933756948937,
+        8.682700230594827,
+        0.7511811870358732
+      ],
+      "z_min": 0.7406921240486586,
+      "z_max": 0.7511639546849256
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.2826028000233456,
+        8.446977043102644,
+        0.8169201454065701
+      ],
+      "rotation_wxyz": [
+        0.9907079391176206,
+        -0.0004937877763730261,
+        0.00013173248705196085,
+        0.1360055814645163
+      ],
+      "yaw_degrees_local": 15.574835239533655,
+      "yaw_radians": 0.27285665919322866,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2826028000233456,
+        8.446977043102644,
+        0.8931060839286562
+      ],
+      "z_min": 0.7407706189193678,
+      "z_max": 0.8931424959635401
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.388623500943952,
+        8.273939006599743,
+        0.7676585945323003
+      ],
+      "rotation_wxyz": [
+        0.9999996830305081,
+        -0.000507154473539094,
+        6.30409090162659e-05,
+        -0.0006105399800992803
+      ],
+      "yaw_degrees_local": -0.1286731609143601,
+      "yaw_radians": -0.001221143829215772,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.388623500943952,
+        8.273939006599743,
+        0.7942330791883744
+      ],
+      "z_min": 0.7410593619596346,
+      "z_max": 0.7942083312717826
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        3.695427141170276,
+        8.286390808772115,
+        0.746178469487853
+      ],
+      "rotation_wxyz": [
+        0.19246703210453567,
+        -0.00015976920102777833,
+        -0.000485441673780958,
+        -0.9813033070223781
+      ],
+      "yaw_degrees_local": -157.865122478084,
+      "yaw_radians": -2.754241694183321,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.695427141170276,
+        8.286390808772115,
+        0.7515281253875029
+      ],
+      "z_min": 0.7408811483285598,
+      "z_max": 0.7515804601278595
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        4.8774952662380695,
+        8.137412720931543,
+        0.9237535963430353
+      ],
+      "rotation_wxyz": [
+        0.7806032657633639,
+        0.0,
+        0.0,
+        0.6250268326076658
+      ],
+      "yaw_degrees_local": -12.631686154808108,
+      "yaw_radians": 1.350331813314913,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8774952662380695,
+        8.137412720931543,
+        0.9273286569192551
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9273501500487714
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        2.06108417092248,
+        8.265630796336408,
+        0.7446187037554782
+      ],
+      "rotation_wxyz": [
+        0.9214346118081577,
+        -0.0004426604091103317,
+        0.00025540473458138236,
+        0.3885331324123257
+      ],
+      "yaw_degrees_local": 45.667810618222035,
+      "yaw_radians": 0.7980780961439521,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.06108417092248,
+        8.265630796336408,
+        0.7481989832368033
+      ],
+      "z_min": 0.741109275952726,
+      "z_max": 0.7482698349153761
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        1.7386119791596812,
+        8.343136511654127,
+        0.7876484465793989
+      ],
+      "rotation_wxyz": [
+        0.9859131305829448,
+        -0.000489376432780447,
+        0.0001472770290282813,
+        0.16725739972964146
+      ],
+      "yaw_degrees_local": 19.19808530914409,
+      "yaw_radians": 0.336094280931344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7386119791596812,
+        8.343136511654127,
+        0.8340156147152838
+      ],
+      "z_min": 0.74107154724704,
+      "z_max": 0.8338058835188099
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.5673476760862384,
+        8.429822840530614,
+        0.7437913250958177
+      ],
+      "rotation_wxyz": [
+        0.7731615700239172,
+        -0.0004322600473520816,
+        -0.00027263724562775495,
+        -0.6342088973345735
+      ],
+      "yaw_degrees_local": -78.78139174865427,
+      "yaw_radians": -1.3739698287577673,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5673476760862384,
+        8.429822840530614,
+        0.7469033283396933
+      ],
+      "z_min": 0.7407519015789771,
+      "z_max": 0.7469759080667282
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.3555396551803223,
+        8.89680115495943,
+        0.7404318129926517
+      ],
+      "rotation_wxyz": [
+        0.7146425217896805,
+        -0.0004067196769789211,
+        -0.00030944938293438987,
+        -0.6994896745987536
+      ],
+      "yaw_degrees_local": -88.83087476406631,
+      "yaw_radians": -1.5493664768984428,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3555396551803223,
+        8.89680115495943,
+        0.7904319068699672
+      ],
+      "z_min": 0.7404318129926517,
+      "z_max": 0.8404320007472827
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.455019841738231,
+        8.264632614475346,
+        0.7758997945482445
+      ],
+      "rotation_wxyz": [
+        0.21429913040275517,
+        -4.679572798576129e-05,
+        0.0005089105776878638,
+        0.9767679466120943
+      ],
+      "yaw_degrees_local": 155.19246212817455,
+      "yaw_radians": 2.709644279296726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.455019841738231,
+        8.264632614475346,
+        0.8110128688914299
+      ],
+      "z_min": 0.7409336915613136,
+      "z_max": 0.8111598402476844
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        2.829404585387248,
+        8.2411802793221,
+        0.7445461551992362
+      ],
+      "rotation_wxyz": [
+        0.6642469422300035,
+        -0.0002894948660813195,
+        0.0004211561928226528,
+        0.7475130357112675
+      ],
+      "yaw_degrees_local": 96.69211875754183,
+      "yaw_radians": 1.688620644750892,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.829404585387248,
+        8.2411802793221,
+        0.7481264346805613
+      ],
+      "z_min": 0.741036727396484,
+      "z_max": 0.7481972863591341
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        2.553199434861148,
+        8.284393933039045,
+        0.819737503564583
+      ],
+      "rotation_wxyz": [
+        0.9999695397697114,
+        -0.0005075939054036214,
+        5.9399018825331185e-05,
+        -0.007788347253146072
+      ],
+      "yaw_degrees_local": -0.9511984127539677,
+      "yaw_radians": -0.015576910356480261,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.553199434861148,
+        8.284393933039045,
+        0.8984481663892049
+      ],
+      "z_min": 0.7410279335019578,
+      "z_max": 0.8984492591512018
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.587237151180971,
+        8.83000955734972,
+        0.8177110555084409
+      ],
+      "rotation_wxyz": [
+        0.4182893838792539,
+        -0.00026966338594692065,
+        -0.0004341214974174335,
+        -0.9083136738781918
+      ],
+      "yaw_degrees_local": -130.6054311990975,
+      "yaw_radians": -2.278470345442896,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.587237151180971,
+        8.83000955734972,
+        0.8950928106417804
+      ],
+      "z_min": 0.7403435381410576,
+      "z_max": 0.8951070484077365
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.9675480986447553,
+        8.273987378406892,
+        0.8185207403887446
+      ],
+      "rotation_wxyz": [
+        0.6933036789600732,
+        -0.00039723863402099836,
+        -0.00032152960031923023,
+        -0.7206453687914824
+      ],
+      "yaw_degrees_local": -92.27430400079632,
+      "yaw_radians": -1.6094656851776563,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9675480986447553,
+        8.273987378406892,
+        0.896227574222177
+      ],
+      "z_min": 0.7409859891108987,
+      "z_max": 0.8963996567777637
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17135408564547958,
+        0.12615247863082146,
+        0.020837576756573974
+      ],
+      "bbox_min_m": [
+        -0.08557922064932827,
+        -0.06318043175369172,
+        -0.010447339522802175
+      ],
+      "bbox_max_m": [
+        0.08577486499615133,
+        0.0629720468771298,
+        0.010390237233771776
+      ],
+      "translation_world": [
+        1.8970857292825636,
+        8.299730998724707,
+        0.7515428123634001
+      ],
+      "rotation_wxyz": [
+        0.8715902980683283,
+        -0.00041094071074550346,
+        0.0003038215734477936,
+        0.490234730647826
+      ],
+      "yaw_degrees_local": 58.65331980885628,
+      "yaw_radians": 1.024718042899424,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8970857292825636,
+        8.299730998724707,
+        0.7619616007416872
+      ],
+      "z_min": 0.741095472840598,
+      "z_max": 0.7619330495971719
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        4.9640769457340825,
+        8.408471092344271,
+        0.9254531765654129
+      ],
+      "rotation_wxyz": [
+        0.7325294196319689,
+        0.0,
+        0.0,
+        -0.680735373969688
+      ],
+      "yaw_degrees_local": -175.802269037203,
+      "yaw_radians": -1.4975321003811775,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9640769457340825,
+        8.408471092344271,
+        0.9306890918835464
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9306718595325988
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.5632915111374235,
+        8.857194870022287,
+        0.8353192064288683
+      ],
+      "rotation_wxyz": [
+        0.9976639586179028,
+        -0.0005016037864804769,
+        9.7844047487626e-05,
+        0.06831079340074683
+      ],
+      "yaw_degrees_local": 7.775231664929777,
+      "yaw_radians": 0.13672795254823378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5632915111374235,
+        8.857194870022287,
+        0.9302160524930718
+      ],
+      "z_min": 0.7404457101264535,
+      "z_max": 0.9302394022548608
+    }
+  ],
+  "variant_index": 20
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0023/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0023/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..6d62352cdc664eff838b65c257f2b457beeb55b6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0023/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 902375626262888676
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.966393404, -0.00050635886, -6.91413136e-05, -0.257067165)
+            double3 xformOp:translate = (1.80745643032, 8.73183961761, 0.740668565051)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.160595783, -0.000143968946, -0.000490359826, -0.987020128)
+            double3 xformOp:translate = (2.87114534832, 8.30279425578, 0.740968943089)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.169984848, -2.37734546e-05, 0.000510504299, 0.985446544)
+            double3 xformOp:translate = (2.89297224545, 8.87397378683, 0.787709951567)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.961847244, -0.000505099944, -7.78065753e-05, -0.273586582)
+            double3 xformOp:translate = (1.77250883419, 8.88699402251, 0.746166069582)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.596297557, 0, 0, 0.802763492)
+            double3 xformOp:translate = (4.85633155082, 8.7657325191, 0.967723832253)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0153822138, 5.55424741e-05, 0.000508030363, 0.999881556)
+            double3 xformOp:translate = (3.29837959605, 8.39485870873, 0.78814451993)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.935244185, -0.000496703525, -0.000120272292, -0.354002901)
+            double3 xformOp:translate = (3.47270580141, 8.66682583949, 0.755729200214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.822537422, -0.000453149987, -0.000236294108, -0.56871076)
+            double3 xformOp:translate = (2.20850585096, 8.27879509562, 0.788173516849)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.375523275, 0, 0, 0.926812964)
+            double3 xformOp:translate = (4.8989623779, 8.11933416225, 0.960763557343)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.371326463, -0.000247126696, -0.000447334564, -0.928502233)
+            double3 xformOp:translate = (1.9952216556, 8.39168985009, 0.75531879765)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.679682698, -0.00039114595, -0.000328914369, -0.73350608)
+            double3 xformOp:translate = (3.23859624859, 8.31632670544, 0.797068614103)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93196056, -0.000449643741, 0.00024289982, 0.36255931)
+            double3 xformOp:translate = (1.73464205245, 8.61124800514, 0.748218086175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984735144, -0.000510401618, -2.5884442e-05, -0.174058709)
+            double3 xformOp:translate = (1.70094590436, 8.25996842714, 0.753677209431)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998323201, -0.00050993259, 3.38905587e-05, -0.0578837217)
+            double3 xformOp:translate = (2.04741914217, 8.81174464952, 0.745913849283)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999427008, -0.000508969399, 4.61515715e-05, -0.0338436852)
+            double3 xformOp:translate = (2.06964865117, 8.23367726748, 0.800139058947)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.323479787, -0.000104097263, 0.000500343458, 0.946234943)
+            double3 xformOp:translate = (3.60543587342, 8.64191913067, 0.751552012009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.398931977, -0.000144213565, 0.00049028794, 0.91698038)
+            double3 xformOp:translate = (3.23942863196, 8.5430266674, 0.755884317796)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.287313492, -8.50217953e-05, 0.000503935621, 0.957836466)
+            double3 xformOp:translate = (3.47806959306, 8.28109377166, 0.780260041943)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.101391231, -0.000114441178, -0.000498079344, -0.994846499)
+            double3 xformOp:translate = (2.74806644386, 8.18209434189, 0.746796761757)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.755817749, -0.000424768027, -0.000284168858, -0.654781848)
+            double3 xformOp:translate = (3.4757108517, 8.41274662253, 0.753297392162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980051025, -0.000484408885, 0.000162873719, 0.198745382)
+            double3 xformOp:translate = (3.73061469799, 8.39796799267, 0.750313056321)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973934296, -0.000479527836, 0.000176728241, 0.226829727)
+            double3 xformOp:translate = (3.17212547382, 8.84339021723, 0.745635672159)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.270065865, -7.59581632e-05, 0.000505381216, 0.962841715)
+            double3 xformOp:translate = (1.82060670349, 8.27920489972, 0.749120214585)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999782972, -0.000508325274, 5.27752931e-05, -0.0208266011)
+            double3 xformOp:translate = (2.44506854658, 8.28958531271, 0.775643134955)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.651043945, -0.000378240361, -0.000343677241, -0.759039868)
+            double3 xformOp:translate = (2.61718005836, 8.24610242732, 0.750092536747)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.876147135, -0.000413770474, 0.000299956348, 0.482043501)
+            double3 xformOp:translate = (3.58106854907, 8.77619662604, 0.740398858103)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.452102056, -0.000285774702, -0.000423689315, -0.89196607)
+            double3 xformOp:translate = (2.01011118226, 8.60119362592, 0.746138859383)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.846936033, -0.000395811638, 0.000323284648, 0.53169455)
+            double3 xformOp:translate = (3.08149663069, 8.198220447, 0.775118017073)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.141595923, -0.000134517801, -0.000493036284, -0.989924408)
+            double3 xformOp:translate = (1.82298906877, 8.47367733625, 0.788351507886)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999993005, -0.000507347132, 6.14711598e-05, -0.0037051502)
+            double3 xformOp:translate = (3.29523971028, 8.22448914384, 0.77596075367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0023/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0023/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbd3c39e49105554baa75e32cba0c6b8de68458b
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0023/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 902375626262888676,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 7,
+    "small object": 6,
+    "writing_instrument": 2,
+    "book": 2,
+    "office_supply": 4,
+    "office_supplies": 1,
+    "clock": 1
+  },
+  "failed_sampling_attempt_count": 251,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.8074564303239522,
+        8.731839617605653,
+        0.7406685650505361
+      ],
+      "rotation_wxyz": [
+        0.96639340414786,
+        -0.000506358859898632,
+        -6.914131357206223e-05,
+        -0.2570671648415929
+      ],
+      "yaw_degrees_local": -29.850932354261715,
+      "yaw_radians": -0.5199721784660252,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8074564303239522,
+        8.731839617605653,
+        0.9181685596861181
+      ],
+      "z_min": 0.7406685650505361,
+      "z_max": 1.0956685543217
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.8711453483161926,
+        8.302794255784065,
+        0.7409689430894295
+      ],
+      "rotation_wxyz": [
+        0.16059578317739504,
+        -0.0001439689458739032,
+        -0.0004903598259077406,
+        -0.9870201280854525
+      ],
+      "yaw_degrees_local": -161.57574940831262,
+      "yaw_radians": -2.8190043319991345,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8711453483161926,
+        8.302794255784065,
+        0.7634659548032126
+      ],
+      "z_min": 0.740968946084364,
+      "z_max": 0.7859629695119301
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.892972245451116,
+        8.873973786828305,
+        0.7877099515670157
+      ],
+      "rotation_wxyz": [
+        0.16998484825783275,
+        -2.3773454586896247e-05,
+        0.0005105042988039546,
+        0.9854465435440654
+      ],
+      "yaw_degrees_local": 160.3674107916455,
+      "yaw_radians": 2.7999641313263677,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.892972245451116,
+        8.873973786828305,
+        0.8350760782282707
+      ],
+      "z_min": 0.740386896652266,
+      "z_max": 0.835119149974776
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.7725088341921422,
+        8.886994022508476,
+        0.746166069581556
+      ],
+      "rotation_wxyz": [
+        0.9618472440955841,
+        -0.000505099943653948,
+        -7.780657530756062e-05,
+        -0.27358658199172303
+      ],
+      "yaw_degrees_local": -31.814317429927286,
+      "yaw_radians": -0.554239700385721,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7725088341921422,
+        8.886994022508476,
+        0.751814920794838
+      ],
+      "z_min": 0.7405156333117691,
+      "z_max": 0.7518133357383333
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        4.856331550820685,
+        8.765732519097396,
+        0.9677238322531894
+      ],
+      "rotation_wxyz": [
+        -0.5962975571577701,
+        0.0,
+        0.0,
+        0.8027634915264122
+      ],
+      "yaw_degrees_local": 163.21037476885857,
+      "yaw_radians": -1.863830567254229,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.856331550820685,
+        8.765732519097396,
+        1.0152473094534331
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0152469832968194
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.298379596050725,
+        8.394858708728217,
+        0.7881445199303452
+      ],
+      "rotation_wxyz": [
+        0.015382213807794193,
+        5.554247411544278e-05,
+        0.0005080303630782791,
+        0.9998815561448042
+      ],
+      "yaw_degrees_local": 178.17854796991048,
+      "yaw_radians": 3.110826960055465,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.298379596050725,
+        8.394858708728217,
+        0.8355106465916001
+      ],
+      "z_min": 0.7408214650155954,
+      "z_max": 0.8355537183381054
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.472705801412906,
+        8.66682583948748,
+        0.7557292002136863
+      ],
+      "rotation_wxyz": [
+        0.9352441846433026,
+        -0.0004967035252489181,
+        -0.0001202722920942728,
+        -0.35400290099244697
+      ],
+      "yaw_degrees_local": -41.52340980715039,
+      "yaw_radians": -0.7236952843491328,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.472705801412906,
+        8.66682583948748,
+        0.7708976771662177
+      ],
+      "z_min": 0.7405235230980229,
+      "z_max": 0.7708604770030858
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.208505850964455,
+        8.27879509562087,
+        0.7881735168485862
+      ],
+      "rotation_wxyz": [
+        0.8225374217766194,
+        -0.00045314998702299255,
+        -0.000236294108054717,
+        -0.5687107600505338
+      ],
+      "yaw_degrees_local": -69.37946472140368,
+      "yaw_radians": -1.209875187035648,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.208505850964455,
+        8.27879509562087,
+        0.8352792675352186
+      ],
+      "z_min": 0.7410772685727716,
+      "z_max": 0.8352887699460365
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        4.898962377900186,
+        8.119334162254674,
+        0.9607635573428968
+      ],
+      "rotation_wxyz": [
+        -0.375523274508929,
+        0.0,
+        0.0,
+        0.9268129640343254
+      ],
+      "yaw_degrees_local": 134.11331616749806,
+      "yaw_radians": -2.3716700424937063,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.898962377900186,
+        8.119334162254674,
+        1.0013135664824282
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0013000471753948
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        1.9952216555961015,
+        8.391689850088376,
+        0.7553187976503319
+      ],
+      "rotation_wxyz": [
+        0.3713264631964384,
+        -0.00024712669570853756,
+        -0.0004473345644017378,
+        -0.9285022329268833
+      ],
+      "yaw_degrees_local": -136.46381046874546,
+      "yaw_radians": -2.3807183683747386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9952216555961015,
+        8.391689850088376,
+        0.7694150992827378
+      ],
+      "z_min": 0.7409897733103699,
+      "z_max": 0.7691823765751815
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.2385962485924717,
+        8.316326705440153,
+        0.7970686141033775
+      ],
+      "rotation_wxyz": [
+        0.6796826979077861,
+        -0.0003911459502188969,
+        -0.0003289143685941203,
+        -0.7335060797191644
+      ],
+      "yaw_degrees_local": -94.42099072812351,
+      "yaw_radians": -1.6469324559701668,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2385962485924717,
+        8.316326705440153,
+        0.8532508939132701
+      ],
+      "z_min": 0.7409086939334133,
+      "z_max": 0.8532732535531986
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        1.734642052448676,
+        8.611248005138629,
+        0.7482180861752501
+      ],
+      "rotation_wxyz": [
+        0.9319605599034133,
+        -0.000449643741085351,
+        0.00024289981956165067,
+        0.36255931046478507
+      ],
+      "yaw_degrees_local": 42.456206349359434,
+      "yaw_radians": 0.7420250210557714,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.734642052448676,
+        8.611248005138629,
+        0.7557579888183495
+      ],
+      "z_min": 0.7408001024823383,
+      "z_max": 0.7558799077685372
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        1.700945904359704,
+        8.259968427140116,
+        0.7536772094310886
+      ],
+      "rotation_wxyz": [
+        0.9847351443689043,
+        -0.0005104016182394804,
+        -2.588444202281238e-05,
+        -0.17405870924759073
+      ],
+      "yaw_degrees_local": -20.10648399644174,
+      "yaw_radians": -0.3498995427201815,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.700945904359704,
+        8.259968427140116,
+        0.766245875690118
+      ],
+      "z_min": 0.741160653536606,
+      "z_max": 0.7662979860546647
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        2.047419142170935,
+        8.81174464951779,
+        0.7459138492830066
+      ],
+      "rotation_wxyz": [
+        0.9983232009641029,
+        -0.0005099325899316177,
+        3.3890558654958444e-05,
+        -0.057883721692471655
+      ],
+      "yaw_degrees_local": -6.695406791494179,
+      "yaw_radians": -0.1158322075628271,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.047419142170935,
+        8.81174464951779,
+        0.7512289707830876
+      ],
+      "z_min": 0.740557122049727,
+      "z_max": 0.7511873650498888
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.069648651168377,
+        8.23367726747855,
+        0.8001390589465679
+      ],
+      "rotation_wxyz": [
+        0.9994270077345764,
+        -0.0005089693985788586,
+        4.615157148557005e-05,
+        -0.03384368524400057
+      ],
+      "yaw_degrees_local": -3.937652308457217,
+      "yaw_radians": -0.06770033695153438,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.069648651168377,
+        8.23367726747855,
+        0.859265336979088
+      ],
+      "z_min": 0.7411406281058618,
+      "z_max": 0.859393184170902
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        3.6054358734247707,
+        8.641919130673843,
+        0.7515520120092964
+      ],
+      "rotation_wxyz": [
+        0.32347978660745147,
+        -0.0001040972632677328,
+        0.000500343458057044,
+        0.9462349425362506
+      ],
+      "yaw_degrees_local": 142.1942869949034,
+      "yaw_radians": 2.4827834046973503,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6054358734247707,
+        8.641919130673843,
+        0.7624314322124327
+      ],
+      "z_min": 0.7405319650482919,
+      "z_max": 0.7622908054545644
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.239428631961481,
+        8.543026667398149,
+        0.7558843177962888
+      ],
+      "rotation_wxyz": [
+        0.39893197693388743,
+        -0.0001442135653811358,
+        0.0004902879396848076,
+        0.9169803796155097
+      ],
+      "yaw_degrees_local": 132.9184267456185,
+      "yaw_radians": 2.320889130458919,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.239428631961481,
+        8.543026667398149,
+        0.7710527947488203
+      ],
+      "z_min": 0.7406786406806255,
+      "z_max": 0.7710155945856884
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.478069593063406,
+        8.281093771660618,
+        0.7802600419425013
+      ],
+      "rotation_wxyz": [
+        0.28731349189262406,
+        -8.502179530128462e-05,
+        0.0005039356214478781,
+        0.957836466311787
+      ],
+      "yaw_degrees_local": 146.54691136120226,
+      "yaw_radians": 2.5587510093419854,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.478069593063406,
+        8.281093771660618,
+        0.8196089012683772
+      ],
+      "z_min": 0.740914077984565,
+      "z_max": 0.8196117966363167
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.748066443858341,
+        8.182094341887131,
+        0.7467967617573893
+      ],
+      "rotation_wxyz": [
+        0.1013912311736851,
+        -0.00011444117773869751,
+        -0.0004980793441592338,
+        -0.9948464992456215
+      ],
+      "yaw_degrees_local": -168.42013013306732,
+      "yaw_radians": -2.938461266401158,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.748066443858341,
+        8.182094341887131,
+        0.7526278127821755
+      ],
+      "z_min": 0.7411069610280646,
+      "z_max": 0.752769063077637
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.475710851703632,
+        8.41274662252829,
+        0.7532973921620203
+      ],
+      "rotation_wxyz": [
+        0.7558177492521319,
+        -0.00042476802671877515,
+        -0.0002841688577549457,
+        -0.6547818482026098
+      ],
+      "yaw_degrees_local": -81.86494458415427,
+      "yaw_radians": -1.427788001770032,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.475710851703632,
+        8.41274662252829,
+        0.7658660584210497
+      ],
+      "z_min": 0.7407808362675377,
+      "z_max": 0.7659181687855964
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.7306146979900907,
+        8.397967992670752,
+        0.750313056320697
+      ],
+      "rotation_wxyz": [
+        0.9800510252682673,
+        -0.00048440888487053516,
+        0.0001628737194847507,
+        0.19874538155842
+      ],
+      "yaw_degrees_local": 22.868496514584734,
+      "yaw_radians": 0.40015502287536037,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7306146979900907,
+        8.397967992670752,
+        0.7598168892429015
+      ],
+      "z_min": 0.740763527076698,
+      "z_max": 0.7597711929211067
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.172125473824878,
+        8.843390217228956,
+        0.7456356721592983
+      ],
+      "rotation_wxyz": [
+        0.9739342964457184,
+        -0.00047952783553584694,
+        0.0001767282410556343,
+        0.22682972694725778
+      ],
+      "yaw_degrees_local": 26.162285170974968,
+      "yaw_radians": 0.45764246635090683,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.172125473824878,
+        8.843390217228956,
+        0.7508715874774318
+      ],
+      "z_min": 0.7403825244902171,
+      "z_max": 0.7508543551264841
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        1.820606703493525,
+        8.279204899719442,
+        0.7491202145852889
+      ],
+      "rotation_wxyz": [
+        0.270065864788107,
+        -7.59581631850562e-05,
+        0.0005053812161980944,
+        0.9628417146636491
+      ],
+      "yaw_degrees_local": 148.60491293082953,
+      "yaw_radians": 2.5946699008086025,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.820606703493525,
+        8.279204899719442,
+        0.757215639952723
+      ],
+      "z_min": 0.7411259797675375,
+      "z_max": 0.7573168305024057
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.4450685465764948,
+        8.289585312705453,
+        0.7756431349552115
+      ],
+      "rotation_wxyz": [
+        0.9997829722018888,
+        -0.0005083252744856517,
+        5.277529307734315e-05,
+        -0.020826601147115972
+      ],
+      "yaw_degrees_local": -2.44543598614311,
+      "yaw_radians": -0.041656262446414495,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4450685465764948,
+        8.289585312705453,
+        0.8102428619380468
+      ],
+      "z_min": 0.7410363455048282,
+      "z_max": 0.8102357994704987
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        2.61718005836472,
+        8.246102427320517,
+        0.7500925367465229
+      ],
+      "rotation_wxyz": [
+        0.6510439447093274,
+        -0.00037824036086047633,
+        -0.00034367724052728496,
+        -0.7590398677786973
+      ],
+      "yaw_degrees_local": -98.8179832890516,
+      "yaw_radians": -1.7236744933840167,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.61718005836472,
+        8.246102427320517,
+        0.7589257828500051
+      ],
+      "z_min": 0.7410586271667235,
+      "z_max": 0.758725119373688
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.581068549073525,
+        8.776196626040477,
+        0.7403988581026598
+      ],
+      "rotation_wxyz": [
+        0.8761471347572979,
+        -0.0004137704741774268,
+        0.0002999563483897282,
+        0.48204350122863515
+      ],
+      "yaw_degrees_local": 57.57920094035228,
+      "yaw_radians": 1.0059711257149422,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.581068549073525,
+        8.776196626040477,
+        0.7903989519799753
+      ],
+      "z_min": 0.7403988581026598,
+      "z_max": 0.8403990458572909
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.010111182263257,
+        8.601193625919674,
+        0.7461388593834889
+      ],
+      "rotation_wxyz": [
+        0.45210205580521395,
+        -0.0002857747018077737,
+        -0.00042368931547419347,
+        -0.8919660699583158
+      ],
+      "yaw_degrees_local": -126.301443117172,
+      "yaw_radians": -2.203351564374369,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.010111182263257,
+        8.601193625919674,
+        0.7514743000784897
+      ],
+      "z_min": 0.7407753966366788,
+      "z_max": 0.7514462780266804
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.081496630692074,
+        8.198220447004692,
+        0.7751180170732237
+      ],
+      "rotation_wxyz": [
+        0.8469360333074367,
+        -0.0003958116376113571,
+        0.00032328464821535896,
+        0.5316945498175136
+      ],
+      "yaw_degrees_local": 64.18133974776651,
+      "yaw_radians": 1.121200228866855,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.081496630692074,
+        8.198220447004692,
+        0.8091165732439025
+      ],
+      "z_min": 0.7410483742595979,
+      "z_max": 0.8090454866009555
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.8229890687670451,
+        8.473677336246539,
+        0.7883515078859099
+      ],
+      "rotation_wxyz": [
+        0.14159592262210988,
+        -0.00013451780113033315,
+        -0.0004930362840799577,
+        -0.9899244079812243
+      ],
+      "yaw_degrees_local": -163.77829639183747,
+      "yaw_radians": -2.857446015622085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8229890687670451,
+        8.473677336246539,
+        0.8358040336248903
+      ],
+      "z_min": 0.7409284583124813,
+      "z_max": 0.8358335097904422
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.295239710284509,
+        8.224489143841472,
+        0.7759607536695484
+      ],
+      "rotation_wxyz": [
+        0.9999930053166088,
+        -0.0005073471324039865,
+        6.147115975613643e-05,
+        -0.003705150204869468
+      ],
+      "yaw_degrees_local": -0.4832903845646115,
+      "yaw_radians": -0.007410378825814313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.295239710284509,
+        8.224489143841472,
+        0.8110738280127338
+      ],
+      "z_min": 0.7409946506826175,
+      "z_max": 0.8112207993689883
+    }
+  ],
+  "variant_index": 23
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0024/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0024/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..92315b37182e3c280ffa59a2e3fd0b2f39b37d5a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0024/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 728708462028916164
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.807326677, -0.000372024796, 0.000350396015, 0.590104547)
+            double3 xformOp:translate = (3.67666443863, 8.37452371766, 0.740794135585)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.91429067, -0.000437990717, 0.000263332391, 0.405058404)
+            double3 xformOp:translate = (1.9521957032, 8.85807374126, 0.740522192717)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988188776, -0.000510834171, -1.51084588e-05, -0.153240603)
+            double3 xformOp:translate = (3.63821977041, 8.25264654236, 0.787512876522)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999237748, -0.000509202239, 4.35074295e-05, -0.03903412)
+            double3 xformOp:translate = (2.14860563474, 8.83675702656, 0.817886488233)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999959499, -0.000507664651, 5.87913133e-05, -0.00898544908)
+            double3 xformOp:translate = (1.91295191306, 8.45366974957, 0.754005828058)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.109099635, 7.64621874e-06, 0.000511000344, 0.994030688)
+            double3 xformOp:translate = (3.72091716772, 8.2242110029, 0.765967697409)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.599202616, -0.000354583479, -0.000368035831, -0.800597255)
+            double3 xformOp:translate = (1.73668554952, 8.53987423079, 0.818407021052)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.88917369, -0.000479901446, -0.00017571118, -0.457569543)
+            double3 xformOp:translate = (1.76164910398, 8.23445845064, 0.748875021616)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.608111821, 0, 0, 0.793851379)
+            double3 xformOp:translate = (4.88567795725, 8.09499514162, 0.924520299449)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0841381102, -0.000105793679, -0.000499987514, -0.996453971)
+            double3 xformOp:translate = (3.43187271814, 8.23185125755, 0.746659657671)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.816072149, -0.000450456643, -0.000241388958, -0.577949813)
+            double3 xformOp:translate = (3.63875364949, 8.83306166574, 0.747314882228)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.32792977, -0.000106451036, 0.00049984797, 0.944701966)
+            double3 xformOp:translate = (3.39770890047, 8.55387727588, 0.816797139679)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0159869868, -7.14496953e-05, -0.000506038296, -0.999872069)
+            double3 xformOp:translate = (2.2188844161, 8.30899766866, 0.752164598718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.920829538, -0.000491671846, -0.000139422422, -0.389965)
+            double3 xformOp:translate = (1.89741887609, 8.78330745606, 0.817972524151)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.548958661, -0.000331337206, -0.00038909571, -0.835849345)
+            double3 xformOp:translate = (3.22943353051, 8.83733251437, 0.743934973971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.349278859, -0.000117764239, 0.000497304132, 0.937018686)
+            double3 xformOp:translate = (2.98125239904, 8.25494281947, 0.741003527864)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.972922267, 0, 0, 0.231132563)
+            double3 xformOp:translate = (4.85047284915, 8.75385732761, 0.980874519698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96397145, -0.000471993728, 0.000195963612, 0.266005231)
+            double3 xformOp:translate = (2.79237691277, 8.34266962632, 0.811110192045)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999496857, -0.000508869897, 4.72360508e-05, -0.0317138877)
+            double3 xformOp:translate = (3.45946256979, 8.72626885488, 0.775071711596)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0354822935, -8.13042811e-05, -0.000504548739, -0.999370174)
+            double3 xformOp:translate = (1.99529296173, 8.31764569399, 0.871016085753)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00111276337, -6.39147962e-05, -0.000507045082, -0.99999925)
+            double3 xformOp:translate = (3.56869852638, 8.56633048304, 0.745695494145)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.844994653, -0.000394632016, 0.000324723557, 0.534774508)
+            double3 xformOp:translate = (2.82652761928, 8.86912026072, 0.746050652365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.816165525, -0.00037728548, 0.000344725228, 0.577817943)
+            double3 xformOp:translate = (3.52340776279, 8.39244614699, 0.752038474806)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.133641883, -4.98966992e-06, 0.000511033188, 0.991029559)
+            double3 xformOp:translate = (2.45935602918, 8.86902825792, 0.822357746923)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.348035235, -0.00011710427, 0.000497459954, 0.937481314)
+            double3 xformOp:translate = (1.75735857462, 8.73501512761, 0.779542862073)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.510738325, -0.000313468301, -0.000403630326, -0.859736066)
+            double3 xformOp:translate = (2.01143674411, 8.69662114752, 0.805982787817)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.224739615, -5.22390891e-05, 0.000508380658, 0.974418721)
+            double3 xformOp:translate = (2.44154666136, 8.25675433174, 0.751091769576)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.392496274, -0.000140774242, 0.000491286504, 0.919753453)
+            double3 xformOp:translate = (3.1918005628, 8.25089818056, 0.771572970092)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00440330223, -6.55829061e-05, -0.000506832022, -0.999990175)
+            double3 xformOp:translate = (3.31636306966, 8.35756938857, 0.775108039424)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.823775071, 0, 0, -0.566916778)
+            double3 xformOp:translate = (4.98284744653, 8.18802756714, 0.998909598959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0024/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0024/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..adca07a53189b396abe87defc870306c8be829f0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0024/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 728708462028916164,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 4,
+    "paper_goods": 2,
+    "book": 2,
+    "electronics": 7,
+    "clock": 3,
+    "office_supply": 3,
+    "office_supplies": 1,
+    "small_prop": 1,
+    "small object": 5,
+    "writing_instrument": 1,
+    "timepiece": 1
+  },
+  "failed_sampling_attempt_count": 122,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.676664438631477,
+        8.374523717661438,
+        0.740794135584804
+      ],
+      "rotation_wxyz": [
+        0.807326676733693,
+        -0.0003720247958283583,
+        0.0003503960152872475,
+        0.5901045465460466
+      ],
+      "yaw_degrees_local": 72.27015550197947,
+      "yaw_radians": 1.262376760531438,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.676664438631477,
+        8.374523717661438,
+        0.7907942294621195
+      ],
+      "z_min": 0.740794135584804,
+      "z_max": 0.840794323339435
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.9521957032032191,
+        8.858073741263654,
+        0.7405221927174611
+      ],
+      "rotation_wxyz": [
+        0.9142906696201474,
+        -0.0004379907171272217,
+        0.00026333239062199446,
+        0.405058403524389
+      ],
+      "yaw_degrees_local": 47.73087032525444,
+      "yaw_radians": 0.8340852864320915,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9521957032032191,
+        8.858073741263654,
+        0.7630192044312442
+      ],
+      "z_min": 0.7405221957123956,
+      "z_max": 0.7855162191399617
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.6382197704083463,
+        8.252646542364948,
+        0.7875128765217856
+      ],
+      "rotation_wxyz": [
+        0.9881887756767791,
+        -0.0005108341714418906,
+        -1.5108458809216739e-05,
+        -0.15324060312662638
+      ],
+      "yaw_degrees_local": -17.68825521518596,
+      "yaw_radians": -0.3076935086427734,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6382197704083463,
+        8.252646542364948,
+        0.8340944797877036
+      ],
+      "z_min": 0.7409226426570855,
+      "z_max": 0.8340858491889215
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.1486056347361275,
+        8.836757026560415,
+        0.8178864882330514
+      ],
+      "rotation_wxyz": [
+        0.9992377476348575,
+        -0.0005092022386241217,
+        4.350742948618805e-05,
+        -0.03903411996959812
+      ],
+      "yaw_degrees_local": -4.53282833139059,
+      "yaw_radians": -0.07808811278321612,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1486056347361275,
+        8.836757026560415,
+        0.8952682433663909
+      ],
+      "z_min": 0.7405189708656681,
+      "z_max": 0.895282481132347
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        1.912951913055479,
+        8.453669749565169,
+        0.7540058280577863
+      ],
+      "rotation_wxyz": [
+        0.9999594994423805,
+        -0.0005076646508448301,
+        5.879131332866581e-05,
+        -0.00898544907769101
+      ],
+      "yaw_degrees_local": -1.0883810280517991,
+      "yaw_radians": -0.01797119744804376,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.912951913055479,
+        8.453669749565169,
+        0.7672334776479534
+      ],
+      "z_min": 0.7409373343120755,
+      "z_max": 0.7673926334924096
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.7209171677179804,
+        8.22421100289621,
+        0.7659676974094075
+      ],
+      "rotation_wxyz": [
+        0.10909963504972814,
+        7.646218740707372e-06,
+        0.0005110003440109232,
+        0.9940306878825222
+      ],
+      "yaw_degrees_local": 167.41445576073806,
+      "yaw_radians": 2.9229582075759484,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7209171677179804,
+        8.22421100289621,
+        0.7909119389795328
+      ],
+      "z_min": 0.7409409937793775,
+      "z_max": 0.7908294769196281
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        1.7366855495174909,
+        8.539874230786126,
+        0.8184070210515731
+      ],
+      "rotation_wxyz": [
+        0.5992026156491291,
+        -0.0003545834787554807,
+        -0.0003680358309104892,
+        -0.8005972546914123
+      ],
+      "yaw_degrees_local": -106.43307818183192,
+      "yaw_radians": -1.856583040089593,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7366855495174909,
+        8.539874230786126,
+        0.8961138548850056
+      ],
+      "z_min": 0.7408722697737273,
+      "z_max": 0.8962859374405923
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        1.7616491039824036,
+        8.2344584506399,
+        0.7488750216164652
+      ],
+      "rotation_wxyz": [
+        0.8891736904318783,
+        -0.0004799014456254043,
+        -0.00017571117985762808,
+        -0.45756954341819817
+      ],
+      "yaw_degrees_local": -54.519489007321724,
+      "yaw_radians": -0.9505196392522094,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7616491039824036,
+        8.2344584506399,
+        0.7567299279602658
+      ],
+      "z_min": 0.7411788328942449,
+      "z_max": 0.7568886455818461
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        4.885677957253454,
+        8.094995141619153,
+        0.9245202994487992
+      ],
+      "rotation_wxyz": [
+        -0.6081118214312804,
+        0.0,
+        0.0,
+        0.7938513794379465
+      ],
+      "yaw_degrees_local": 164.90620045420434,
+      "yaw_radians": -1.8342328255050557,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.885677957253454,
+        8.094995141619153,
+        0.9286569008089263
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9284732316165859
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.4318727181405637,
+        8.231851257550217,
+        0.7466596576713775
+      ],
+      "rotation_wxyz": [
+        0.08413811023293734,
+        -0.00010579367905303881,
+        -0.0004999875135568239,
+        -0.9964539714540828
+      ],
+      "yaw_degrees_local": -170.40577979853566,
+      "yaw_radians": -2.973117376125784,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4318727181405637,
+        8.231851257550217,
+        0.7524907086961637
+      ],
+      "z_min": 0.7409698569420529,
+      "z_max": 0.7526319589916253
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.638753649493927,
+        8.833061665743877,
+        0.7473148822282484
+      ],
+      "rotation_wxyz": [
+        0.816072148791008,
+        -0.00045045664298199047,
+        -0.0002413889579780073,
+        -0.577949813381587
+      ],
+      "yaw_degrees_local": -70.67166553011062,
+      "yaw_radians": -1.2324283526172741,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.638753649493927,
+        8.833061665743877,
+        0.754298163037089
+      ],
+      "z_min": 0.7403338786293665,
+      "z_max": 0.7543004402470478
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.3977089004703855,
+        8.553877275877031,
+        0.8167971396788278
+      ],
+      "rotation_wxyz": [
+        0.3279297701916907,
+        -0.00010645103584268489,
+        0.00049984797009524,
+        0.9447019660412531
+      ],
+      "yaw_degrees_local": 141.6549462978174,
+      "yaw_radians": 2.4733701360673574,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3977089004703855,
+        8.553877275877031,
+        0.8929830782009139
+      ],
+      "z_min": 0.7406476131916255,
+      "z_max": 0.8930194902357979
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12027584687710438,
+        0.17582722148749907,
+        0.022221431277123893
+      ],
+      "bbox_min_m": [
+        -0.060292053851292125,
+        -0.0879992159381936,
+        -0.011119296335387484
+      ],
+      "bbox_max_m": [
+        0.05998379302581226,
+        0.08782800554930544,
+        0.011102134941736388
+      ],
+      "translation_world": [
+        2.218884416101348,
+        8.308997668660894,
+        0.7521645987179939
+      ],
+      "rotation_wxyz": [
+        0.01598698682662042,
+        -7.144969529822538e-05,
+        -0.0005060382962603753,
+        -0.9998720693530696
+      ],
+      "yaw_degrees_local": -178.22665838930703,
+      "yaw_radians": -3.1096173938982736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.218884416101348,
+        8.308997668660894,
+        0.7632753143565558
+      ],
+      "z_min": 0.7410453023826065,
+      "z_max": 0.7632667336597303
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.8974188760893305,
+        8.783307456061706,
+        0.8179725241510725
+      ],
+      "rotation_wxyz": [
+        0.9208295377579195,
+        -0.0004916718463321472,
+        -0.00013942242202977977,
+        -0.3899649999842552
+      ],
+      "yaw_degrees_local": -45.96335998884504,
+      "yaw_radians": -0.8011870219076779,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8974188760893305,
+        8.783307456061706,
+        0.8953542792844119
+      ],
+      "z_min": 0.7406050067836891,
+      "z_max": 0.895368517050368
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.2294335305093944,
+        8.83733251437142,
+        0.7439349739712965
+      ],
+      "rotation_wxyz": [
+        0.5489586605086173,
+        -0.0003313372064981427,
+        -0.0003890957103725505,
+        -0.8358493452008973
+      ],
+      "yaw_degrees_local": -113.46749654304239,
+      "yaw_radians": -1.9793568591747246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2294335305093944,
+        8.83733251437142,
+        0.7475100345475163
+      ],
+      "z_min": 0.7403814065245929,
+      "z_max": 0.7475315276770326
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.9812523990448754,
+        8.254942819471893,
+        0.741003527864114
+      ],
+      "rotation_wxyz": [
+        0.3492788587255765,
+        -0.00011776423926541884,
+        0.0004973041324889125,
+        0.9370186858689333
+      ],
+      "yaw_degrees_local": 139.05485751632295,
+      "yaw_radians": 2.427990036026438,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9812523990448754,
+        8.254942819471893,
+        0.8910035338245785
+      ],
+      "z_min": 0.741003527864114,
+      "z_max": 1.041003539785043
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        4.850472849150711,
+        8.753857327606799,
+        0.9808745196984141
+      ],
+      "rotation_wxyz": [
+        0.9729222674108755,
+        0.0,
+        0.0,
+        0.23113256277746935
+      ],
+      "yaw_degrees_local": -63.272480769810485,
+      "yaw_radians": 0.46648321145690735,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.850472849150711,
+        8.753857327606799,
+        1.0415013861536737
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.041453761806851
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.7923769127678826,
+        8.342669626320841,
+        0.811110192044608
+      ],
+      "rotation_wxyz": [
+        0.9639714498144502,
+        -0.00047199372757821825,
+        0.00019596361235477188,
+        0.26600523070573445
+      ],
+      "yaw_degrees_local": 30.79467835216039,
+      "yaw_radians": 0.5384929660947845,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7923769127678826,
+        8.342669626320841,
+        0.8812865582765268
+      ],
+      "z_min": 0.7409385199043879,
+      "z_max": 0.8812912523682256
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.4594625697855923,
+        8.72626885488104,
+        0.7750717115961221
+      ],
+      "rotation_wxyz": [
+        0.9994968574964948,
+        -0.000508869896677129,
+        4.7236050809954856e-05,
+        -0.031713887727863925
+      ],
+      "yaw_degrees_local": -3.6934641933661965,
+      "yaw_radians": -0.0634384525598586,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4594625697855923,
+        8.72626885488104,
+        0.8096714385789574
+      ],
+      "z_min": 0.7404649221457388,
+      "z_max": 0.8096643761114093
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.9952929617291015,
+        8.317645693994237,
+        0.8710160857534659
+      ],
+      "rotation_wxyz": [
+        0.035482293481162684,
+        -8.130428106238892e-05,
+        -0.0005045487390938963,
+        -0.9993701744946667
+      ],
+      "yaw_degrees_local": -175.9918849047244,
+      "yaw_radians": -3.0706132576795593,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9952929617291015,
+        8.317645693994237,
+        1.001183235268235
+      ],
+      "z_min": 0.7410649226378296,
+      "z_max": 1.001399221667368
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        3.5686985263839768,
+        8.56633048303803,
+        0.7456954941453785
+      ],
+      "rotation_wxyz": [
+        0.0011127633716569735,
+        -6.391479622895092e-05,
+        -0.000507045081884564,
+        -0.9999992502886503
+      ],
+      "yaw_degrees_local": -179.93119708671125,
+      "yaw_radians": -3.1393671914748427,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5686985263839768,
+        8.56633048303803,
+        0.7508250968414565
+      ],
+      "z_min": 0.7406132810483135,
+      "z_max": 0.7508724864404693
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.826527619275173,
+        8.86912026072356,
+        0.7460506523648791
+      ],
+      "rotation_wxyz": [
+        0.8449946533987144,
+        -0.00039463201584884395,
+        0.0003247235567484909,
+        0.5347745081319515
+      ],
+      "yaw_degrees_local": 64.5985398587498,
+      "yaw_radians": 1.1284817474863704,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.826527619275173,
+        8.86912026072356,
+        0.7516995035781612
+      ],
+      "z_min": 0.7404002160950922,
+      "z_max": 0.7516979185216565
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.523407762790159,
+        8.392446146992501,
+        0.7520384748057103
+      ],
+      "rotation_wxyz": [
+        0.8161655245984969,
+        -0.00037728547962844903,
+        0.0003447252284092996,
+        0.5778179430210214
+      ],
+      "yaw_degrees_local": 70.53572872369381,
+      "yaw_radians": 1.2321052880445538,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.523407762790159,
+        8.392446146992501,
+        0.7632714740296225
+      ],
+      "z_min": 0.7407953817457611,
+      "z_max": 0.7632613801935855
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.4593560291808183,
+        8.869028257916884,
+        0.8223577469230727
+      ],
+      "rotation_wxyz": [
+        0.13364188289073584,
+        -4.989669915065427e-06,
+        0.0005110331881927545,
+        0.9910295585690686
+      ],
+      "yaw_degrees_local": 164.58109977911846,
+      "yaw_radians": 2.8735068419076564,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4593560291808183,
+        8.869028257916884,
+        0.9042937559638916
+      ],
+      "z_min": 0.7404468702945455,
+      "z_max": 0.9043188883761832
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        1.757358574622528,
+        8.735015127609215,
+        0.77954286207341
+      ],
+      "rotation_wxyz": [
+        0.34803523520083895,
+        -0.00011710427019629575,
+        0.0004974599543099983,
+        0.9374813138825119
+      ],
+      "yaw_degrees_local": 139.20690738311566,
+      "yaw_radians": 2.4306438062960125,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.757358574622528,
+        8.735015127609215,
+        0.8184902936084166
+      ],
+      "z_min": 0.7406717121052889,
+      "z_max": 0.8185665751753024
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.011436744107423,
+        8.696621147521737,
+        0.8059827878166915
+      ],
+      "rotation_wxyz": [
+        0.510738324731114,
+        -0.0003134683010953008,
+        -0.00040363032647304693,
+        -0.8597360655870143
+      ],
+      "yaw_degrees_local": -118.63265812175277,
+      "yaw_radians": -2.0695059723084275,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.011436744107423,
+        8.696621147521737,
+        0.871338512178333
+      ],
+      "z_min": 0.740678474334189,
+      "z_max": 0.871389923057472
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.441546661362667,
+        8.25675433173601,
+        0.7510917695761781
+      ],
+      "rotation_wxyz": [
+        0.22473961520021402,
+        -5.2239089125941544e-05,
+        0.0005083806583728423,
+        0.974418721176807
+      ],
+      "yaw_degrees_local": 153.96615197371653,
+      "yaw_radians": 2.688241138439362,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.441546661362667,
+        8.25675433173601,
+        0.7611291205569968
+      ],
+      "z_min": 0.7410700771266759,
+      "z_max": 0.7611447790883134
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.191800562804308,
+        8.250898180562023,
+        0.7715729700922025
+      ],
+      "rotation_wxyz": [
+        0.3924962738046531,
+        -0.00014077424194316394,
+        0.0004912865040336852,
+        0.9197534527631015
+      ],
+      "yaw_degrees_local": 133.72145462475572,
+      "yaw_radians": 2.3349046095384454,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.191800562804308,
+        8.250898180562023,
+        0.8021753715975952
+      ],
+      "z_min": 0.740980969358827,
+      "z_max": 0.8021857723696125
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        3.3163630696563153,
+        8.357569388574335,
+        0.7751080394242901
+      ],
+      "rotation_wxyz": [
+        0.004403302234187008,
+        -6.558290605530824e-05,
+        -0.0005068320221470356,
+        -0.9999901748265422
+      ],
+      "yaw_degrees_local": -179.55412745491674,
+      "yaw_radians": -3.132786088213246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3163630696563153,
+        8.357569388574335,
+        0.8093135591367919
+      ],
+      "z_min": 0.7408569996894165,
+      "z_max": 0.8092680391144202
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        4.982847446528149,
+        8.188027567141333,
+        0.9989095989589569
+      ],
+      "rotation_wxyz": [
+        0.8237750706097666,
+        0.0,
+        0.0,
+        -0.566916777880029
+      ],
+      "yaw_degrees_local": -159.07100386846977,
+      "yaw_radians": -1.205516435162538,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.982847446528149,
+        8.188027567141333,
+        1.0776202617835788
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0776213545455757
+    }
+  ],
+  "variant_index": 24
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0026/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0026/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..e06d3b1ab3c0a384e9ff153b2a46cbe70b83af21
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0026/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3113083694327578659
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.669415608, -0.000292408982, 0.000419138168, 0.742887934)
+            double3 xformOp:translate = (1.79558335448, 8.41463004589, 0.740991793537)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.971523701, -0.000477664776, 0.000181703545, 0.236941845)
+            double3 xformOp:translate = (3.58555373854, 8.72182316087, 0.740453437142)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.372825213, -0.000247848676, -0.000446934951, -0.927901449)
+            double3 xformOp:translate = (3.53721202096, 8.35585361767, 0.827218042346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.489379631, -0.000192926066, 0.000473243435, 0.872070706)
+            double3 xformOp:translate = (3.66035383096, 8.48313478031, 0.765712762025)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.87262894, -0.000411584697, 0.000302948598, 0.488383529)
+            double3 xformOp:translate = (2.46954575677, 8.31928043406, 0.746290322305)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.931944688, -0.000449633108, 0.000242919502, 0.362600107)
+            double3 xformOp:translate = (2.06202960758, 8.30164011309, 0.755403498074)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.95071837, 0, 0, 0.31005577)
+            double3 xformOp:translate = (4.9353009677, 8.20808360144, 1.0370396085)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.566260737, -0.000339375021, -0.000382105236, -0.824226011)
+            double3 xformOp:translate = (3.44399262257, 8.8887825062, 0.799300499213)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.733931588, -0.00032915926, 0.00039093989, 0.679223205)
+            double3 xformOp:translate = (3.68060224031, 8.3122192207, 0.747515254631)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998243768, -0.00050997809, 3.31988491e-05, -0.0592378055)
+            double3 xformOp:translate = (1.78878274235, 8.6123692863, 0.749611610287)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.515745852, -0.000207267912, 0.000467140053, 0.856741475)
+            double3 xformOp:translate = (1.85537746922, 8.75704287402, 0.750658629132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.570484833, 0, 0, 0.821308137)
+            double3 xformOp:translate = (4.84255412378, 8.57250389681, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.502060424, -0.00019981525, 0.000470376107, 0.864832394)
+            double3 xformOp:translate = (1.69455228711, 8.76557770226, 0.746012117429)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.268263353, -7.50121671e-05, 0.000505522493, 0.963345479)
+            double3 xformOp:translate = (3.69252178427, 8.91141342706, 0.745937399324)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.163567395, -2.04502957e-05, 0.000510648217, 0.98653203)
+            double3 xformOp:translate = (2.78816998154, 8.23219780907, 0.79721100985)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.951476303, -0.000502003146, -9.57739931e-05, -0.307721601)
+            double3 xformOp:translate = (3.21572846686, 8.60854061963, 0.819324800394)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.352532481, -0.000238058249, -0.000452225703, -0.935799438)
+            double3 xformOp:translate = (2.28516070462, 8.88007284924, 0.745710846884)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00614219717, -6.64641466e-05, -0.000506717213, -0.999981006)
+            double3 xformOp:translate = (1.98835805128, 8.81162995214, 0.788088546869)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.932584907, -0.000495795086, -0.000123963904, -0.360950316)
+            double3 xformOp:translate = (3.44563277209, 8.25231197125, 0.746200509055)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.965867667, -0.000506216945, -7.01727916e-05, -0.259035496)
+            double3 xformOp:translate = (1.92352024269, 8.39158233832, 0.746649398738)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.882696633, -0.000477400689, -0.000182396266, -0.469942969)
+            double3 xformOp:translate = (3.38078716548, 8.54245328706, 0.787251562196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955628166, -0.00050327579, -8.88442185e-05, -0.294575196)
+            double3 xformOp:translate = (1.91285760763, 8.22369225949, 0.800169051664)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986183718, -0.000510603802, -2.15307652e-05, -0.165654499)
+            double3 xformOp:translate = (3.1768224634, 8.41463185318, 0.801491309657)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.656700562, -0.000380799225, -0.000340839795, -0.754151252)
+            double3 xformOp:translate = (2.53522376467, 8.25170107257, 0.812345905181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506546996, -0.000202256453, 0.000469331592, 0.862212201)
+            double3 xformOp:translate = (2.70091556494, 8.25513145224, 0.746402321086)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985251789, -0.000510476818, -2.4356403e-05, -0.171110056)
+            double3 xformOp:translate = (2.56025130546, 8.84298533575, 0.840717515381)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.84941995, -0.000464185584, -0.000213802618, -0.527717242)
+            double3 xformOp:translate = (2.40671914093, 8.22513270315, 0.811278265046)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0944095095, 1.51910081e-05, 0.000510831723, 0.995533316)
+            double3 xformOp:translate = (1.97049389814, 8.67357458313, 0.788130076639)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999804422, -0.000508269222, 5.33124224e-05, -0.0197700963)
+            double3 xformOp:translate = (1.96634994325, 8.50091402853, 0.7802397393)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999987442, -0.000507425424, 6.08215004e-05, -0.00498554161)
+            double3 xformOp:translate = (3.0767767613, 8.27958389557, 0.789832026086)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0026/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0026/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6fc9c229de0677309ac033d2cad55e8a3e6203a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0026/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3113083694327578659,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 1,
+    "electronics": 5,
+    "small prop": 1,
+    "office_supplies": 2,
+    "small object": 4,
+    "clock": 1,
+    "drinkware": 6,
+    "electronics accessory": 1,
+    "writing_instrument": 4,
+    "office_supply": 3,
+    "timepiece": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 189,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.795583354480188,
+        8.41463004588567,
+        0.7409917935371585
+      ],
+      "rotation_wxyz": [
+        0.669415607917463,
+        -0.0002924089816226814,
+        0.00041913816779995,
+        0.7428879341439578
+      ],
+      "yaw_degrees_local": 95.89732179112576,
+      "yaw_radians": 1.6747488143429972,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.795583354480188,
+        8.41463004588567,
+        0.890991799497623
+      ],
+      "z_min": 0.7409917935371585,
+      "z_max": 1.0409918054580873
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.5855537385433665,
+        8.721823160872354,
+        0.7404534371420977
+      ],
+      "rotation_wxyz": [
+        0.9715237006362983,
+        -0.0004776647757592725,
+        0.00018170354492732531,
+        0.23694184502138083
+      ],
+      "yaw_degrees_local": 27.35352439747959,
+      "yaw_radians": 0.47843350894220626,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5855537385433665,
+        8.721823160872354,
+        0.9179534317776796
+      ],
+      "z_min": 0.7404534371420977,
+      "z_max": 1.0954534264132616
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.53721202095715,
+        8.355853617673105,
+        0.8272180423461315
+      ],
+      "rotation_wxyz": [
+        0.37282521306590316,
+        -0.0002478486757024525,
+        -0.0004469349507398735,
+        -0.9279014491434681
+      ],
+      "yaw_degrees_local": -136.27878169674207,
+      "yaw_radians": -2.3774890067526946,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.53721202095715,
+        8.355853617673105,
+        0.9136173213043982
+      ],
+      "z_min": 0.7408307853037706,
+      "z_max": 0.9136293432203039
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.6603538309602603,
+        8.483134780307369,
+        0.7657127620254927
+      ],
+      "rotation_wxyz": [
+        0.4893796309186064,
+        -0.0001929260661823099,
+        0.00047324343548297806,
+        0.8720707056553114
+      ],
+      "yaw_degrees_local": 121.34165184522715,
+      "yaw_radians": 2.118836289158218,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6603538309602603,
+        8.483134780307369,
+        0.790657003595618
+      ],
+      "z_min": 0.7406860583954626,
+      "z_max": 0.7905745415357133
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.4695457567737233,
+        8.319280434064671,
+        0.7462903223051734
+      ],
+      "rotation_wxyz": [
+        0.8726289401806885,
+        -0.00041158469735259477,
+        0.0003029485981903293,
+        0.48838352918511935
+      ],
+      "yaw_degrees_local": 58.41007976496678,
+      "yaw_radians": 1.0204727017936954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4695457567737233,
+        8.319280434064671,
+        0.7515913129362869
+      ],
+      "z_min": 0.7410031111519058,
+      "z_max": 0.7516050924141328
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        2.0620296075848463,
+        8.301640113087414,
+        0.7554034980742523
+      ],
+      "rotation_wxyz": [
+        0.9319446879897393,
+        -0.00044963310772369505,
+        0.00024291950246747306,
+        0.36260010665730874
+      ],
+      "yaw_degrees_local": 42.46122259072487,
+      "yaw_radians": 0.7421125709910448,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0620296075848463,
+        8.301640113087414,
+        0.7695389809802943
+      ],
+      "z_min": 0.7410726400097887,
+      "z_max": 0.7693436058218726
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        4.935300967701595,
+        8.208083601439476,
+        1.0370396084965963
+      ],
+      "rotation_wxyz": [
+        0.9507183700738469,
+        0.0,
+        0.0,
+        0.3100557704738425
+      ],
+      "yaw_degrees_local": -53.87481698105631,
+      "yaw_radians": 0.6305033865661126,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.935300967701595,
+        8.208083601439476,
+        1.1538984271725687
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.1539176662482764
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.4439926225749145,
+        8.888782506204814,
+        0.7993004992128692
+      ],
+      "rotation_wxyz": [
+        0.5662607367009833,
+        -0.0003393750208583535,
+        -0.0003821052361034912,
+        -0.8242260108071351
+      ],
+      "yaw_degrees_local": -111.07893015452788,
+      "yaw_radians": -1.9376684924750416,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4439926225749145,
+        8.888782506204814,
+        0.8584267772453893
+      ],
+      "z_min": 0.7403020683721631,
+      "z_max": 0.8585546244372033
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.6806022403055394,
+        8.312219220698566,
+        0.7475152546307846
+      ],
+      "rotation_wxyz": [
+        0.733931588338703,
+        -0.00032915925991854186,
+        0.0003909398903286673,
+        0.6792232051828122
+      ],
+      "yaw_degrees_local": 85.50724610654248,
+      "yaw_radians": 1.4934076934515907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6806022403055394,
+        8.312219220698566,
+        0.7541280589142724
+      ],
+      "z_min": 0.7408568313646283,
+      "z_max": 0.7540824399316038
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        1.788782742351307,
+        8.612369286303245,
+        0.7496116102866834
+      ],
+      "rotation_wxyz": [
+        0.9982437684367081,
+        -0.0005099780903733028,
+        3.3198849069086865e-05,
+        -0.0592378054747458
+      ],
+      "yaw_degrees_local": -6.850840143092796,
+      "yaw_radians": -0.11854502989870758,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.788782742351307,
+        8.612369286303245,
+        0.7584137334100775
+      ],
+      "z_min": 0.7407921062889286,
+      "z_max": 0.7583963525357167
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.855377469222171,
+        8.757042874017678,
+        0.750658629132021
+      ],
+      "rotation_wxyz": [
+        0.5157458515065866,
+        -0.00020726791242607913,
+        0.00046714005257400884,
+        0.8567414752852403
+      ],
+      "yaw_degrees_local": 117.84663701491746,
+      "yaw_radians": 2.0578367639442137,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.855377469222171,
+        8.757042874017678,
+        0.7606959801128397
+      ],
+      "z_min": 0.7406369366825188,
+      "z_max": 0.7607116386441563
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.842554123776282,
+        8.572503896813348,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.5704848330471098,
+        0.0,
+        0.0,
+        0.8213081366108651
+      ],
+      "yaw_degrees_local": 159.56808311814922,
+      "yaw_radians": -1.9274005488770065,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.842554123776282,
+        8.572503896813348,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.694552287113551,
+        8.76557770225876,
+        0.7460121174293902
+      ],
+      "rotation_wxyz": [
+        0.5020604238466778,
+        -0.0001998152495955696,
+        0.0004703761072475651,
+        0.8648323939510351
+      ],
+      "yaw_degrees_local": 119.66846004234628,
+      "yaw_radians": 2.08963357932796,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.694552287113551,
+        8.76557770225876,
+        0.751347558124391
+      ],
+      "z_min": 0.7406486546825801,
+      "z_max": 0.7513195360725817
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.69252178426606,
+        8.911413427056004,
+        0.7459373993238234
+      ],
+      "rotation_wxyz": [
+        0.26826335331307666,
+        -7.501216710427007e-05,
+        0.0005055224930966315,
+        0.9633454790932522
+      ],
+      "yaw_degrees_local": 148.81938070474325,
+      "yaw_radians": 2.598413068299995,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.69252178426606,
+        8.911413427056004,
+        0.7517684503486096
+      ],
+      "z_min": 0.7402475985944987,
+      "z_max": 0.7519097006440711
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.788169981544928,
+        8.23219780907286,
+        0.7972110098498202
+      ],
+      "rotation_wxyz": [
+        0.16356739541000917,
+        -2.0450295699835354e-05,
+        0.0005106482171183034,
+        0.9865320298799071
+      ],
+      "yaw_degrees_local": 161.1132437744925,
+      "yaw_radians": 2.8129813663431493,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.788169981544928,
+        8.23219780907286,
+        0.8533932896597128
+      ],
+      "z_min": 0.741051089679856,
+      "z_max": 0.8534156492996413
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.215728466856966,
+        8.608540619628073,
+        0.8193248003941922
+      ],
+      "rotation_wxyz": [
+        0.9514763028257812,
+        -0.0005020031458935798,
+        -9.577399309448204e-05,
+        -0.30772160142110005
+      ],
+      "yaw_degrees_local": -35.9026695256627,
+      "yaw_radians": -0.6255948832110164,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.215728466856966,
+        8.608540619628073,
+        0.8980354632188141
+      ],
+      "z_min": 0.7406152303315671,
+      "z_max": 0.898036555980811
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.2851607046188183,
+        8.880072849236692,
+        0.7457108468835935
+      ],
+      "rotation_wxyz": [
+        0.35253248089700545,
+        -0.00023805824933115558,
+        -0.0004522257026814132,
+        -0.9357994383054451
+      ],
+      "yaw_degrees_local": -138.77412195386466,
+      "yaw_radians": -2.421040913874631,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2851607046188183,
+        8.880072849236692,
+        0.750946762201727
+      ],
+      "z_min": 0.7404576992145123,
+      "z_max": 0.7509295298507793
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.9883580512802652,
+        8.811629952136402,
+        0.7880885468691381
+      ],
+      "rotation_wxyz": [
+        0.0061421971709680915,
+        -6.646414656981564e-05,
+        -0.0005067172125170595,
+        -0.9999810059366613
+      ],
+      "yaw_degrees_local": -179.354861952,
+      "yaw_radians": -3.1293082508527386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9883580512802652,
+        8.811629952136402,
+        0.8356120240693818
+      ],
+      "z_min": 0.7405647435122805,
+      "z_max": 0.8356116979127681
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.445632772087128,
+        8.252311971249858,
+        0.7462005090545857
+      ],
+      "rotation_wxyz": [
+        0.9325849068839582,
+        -0.0004957950855523116,
+        -0.00012396390354651096,
+        -0.36095031551783274
+      ],
+      "yaw_degrees_local": -42.37585545536166,
+      "yaw_radians": -0.7385732648882664,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.445632772087128,
+        8.252311971249858,
+        0.7514364243727192
+      ],
+      "z_min": 0.7409473613855045,
+      "z_max": 0.7514191920217715
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.923520242687713,
+        8.391582338321038,
+        0.7466493987380551
+      ],
+      "rotation_wxyz": [
+        0.9658676671631946,
+        -0.000506216945153596,
+        -7.017279159099903e-05,
+        -0.25903549631066436
+      ],
+      "yaw_degrees_local": -30.08439365724209,
+      "yaw_radians": -0.5240468453892169,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.923520242687713,
+        8.391582338321038,
+        0.7522982499513372
+      ],
+      "z_min": 0.7409989624682682,
+      "z_max": 0.7522966648948325
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.3807871654771904,
+        8.542453287059473,
+        0.7872515621955721
+      ],
+      "rotation_wxyz": [
+        0.8826966325554357,
+        -0.00047740068943623353,
+        -0.00018239626631628593,
+        -0.4699429685562686
+      ],
+      "yaw_degrees_local": -56.11990751552631,
+      "yaw_radians": -0.9784522132262327,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3807871654771904,
+        8.542453287059473,
+        0.8338331654614901
+      ],
+      "z_min": 0.7406613283308721,
+      "z_max": 0.833824534862708
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        1.912857607631191,
+        8.223692259487544,
+        0.8001690516638512
+      ],
+      "rotation_wxyz": [
+        0.9556281664788614,
+        -0.0005032757902861158,
+        -8.884421845116423e-05,
+        -0.29457519626138523
+      ],
+      "yaw_degrees_local": -34.3228471027646,
+      "yaw_radians": -0.59802178841544,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.912857607631191,
+        8.223692259487544,
+        0.8592953296963713
+      ],
+      "z_min": 0.7411706208231451,
+      "z_max": 0.8594231768881854
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.1768224633954243,
+        8.414631853184746,
+        0.8014913096574788
+      ],
+      "rotation_wxyz": [
+        0.9861837179941575,
+        -0.0005106038017780205,
+        -2.1530765201092762e-05,
+        -0.16565449943603755
+      ],
+      "yaw_degrees_local": -19.129228477493427,
+      "yaw_radians": -0.33284322436370817,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1768224633954243,
+        8.414631853184746,
+        0.8621181761127384
+      ],
+      "z_min": 0.7408168188553965,
+      "z_max": 0.8620705517659157
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        2.5352237646735554,
+        8.251701072566934,
+        0.8123459051812
+      ],
+      "rotation_wxyz": [
+        0.6567005622372699,
+        -0.00038079922537824344,
+        -0.00034083979549290067,
+        -0.7541512516580726
+      ],
+      "yaw_degrees_local": -97.96125396559012,
+      "yaw_radians": -1.7087217380877744,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5352237646735554,
+        8.251701072566934,
+        0.883824151911268
+      ],
+      "z_min": 0.7410633653109894,
+      "z_max": 0.8840198587711253
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.7009155649416856,
+        8.255131452240784,
+        0.7464023210861329
+      ],
+      "rotation_wxyz": [
+        0.5065469964537213,
+        -0.00020225645281421223,
+        0.00046933159230476374,
+        0.862212200797401
+      ],
+      "yaw_degrees_local": 119.0730820252034,
+      "yaw_radians": 2.079242271056949,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7009155649416856,
+        8.255131452240784,
+        0.7517377617811337
+      ],
+      "z_min": 0.7410388583393228,
+      "z_max": 0.7517097397293244
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.560251305460258,
+        8.842985335748184,
+        0.8407175153812133
+      ],
+      "rotation_wxyz": [
+        0.9852517889717473,
+        -0.0005104768181534762,
+        -2.4356403022928746e-05,
+        -0.17111005566054702
+      ],
+      "yaw_degrees_local": -19.763445620384402,
+      "yaw_radians": -0.3439123964197939,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.560251305460258,
+        8.842985335748184,
+        0.9409343954438634
+      ],
+      "z_min": 0.7404605099029348,
+      "z_max": 0.9408942700282348
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.406719140925977,
+        8.225132703147649,
+        0.8112782650459097
+      ],
+      "rotation_wxyz": [
+        0.8494199500256274,
+        -0.00046418558437586756,
+        -0.00021380261808019783,
+        -0.527717241824298
+      ],
+      "yaw_degrees_local": -63.76141454218654,
+      "yaw_radians": -1.1118216892445536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.406719140925977,
+        8.225132703147649,
+        0.8814546312778286
+      ],
+      "z_min": 0.7411065929056896,
+      "z_max": 0.8814593253695273
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.9704938981389404,
+        8.673574583127692,
+        0.7881300766388059
+      ],
+      "rotation_wxyz": [
+        0.09440950954264225,
+        1.5191008094656419e-05,
+        0.0005108317232840779,
+        0.9955333160312123
+      ],
+      "yaw_degrees_local": 169.10661926083134,
+      "yaw_radians": 2.952492016904613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9704938981389404,
+        8.673574583127692,
+        0.8355826023777863
+      ],
+      "z_min": 0.7407070270653773,
+      "z_max": 0.8356120785433382
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        1.9663499432545166,
+        8.500914028529522,
+        0.7802397393004094
+      ],
+      "rotation_wxyz": [
+        0.9998044219300587,
+        -0.0005082692218311388,
+        5.33124223749139e-05,
+        -0.019770096339808117
+      ],
+      "yaw_degrees_local": -2.3243444828885345,
+      "yaw_radians": -0.039542818106985726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9663499432545166,
+        8.500914028529522,
+        0.8194798141403006
+      ],
+      "z_min": 0.7408826657859988,
+      "z_max": 0.8193628154657813
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.076776761304641,
+        8.279583895571458,
+        0.7898320260858547
+      ],
+      "rotation_wxyz": [
+        0.9999874415186608,
+        -0.0005074254244048974,
+        6.0821500374640525e-05,
+        -0.004985541610191659
+      ],
+      "yaw_degrees_local": -0.6300138462731013,
+      "yaw_radians": -0.009971185020475616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.076776761304641,
+        8.279583895571458,
+        0.8386994905918038
+      ],
+      "z_min": 0.7409664585735365,
+      "z_max": 0.8387013875854349
+    }
+  ],
+  "variant_index": 26
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0028/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0028/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..d78e03ceb55124d3b8fc743e86920b0161dca627
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0028/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8618464254058704125
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.912238382, -0.00043665849, 0.000265535647, 0.409659461)
+            double3 xformOp:translate = (3.71222506315, 8.45711277946, 0.74070586553)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.420961013, -0.000270939969, -0.000433325916, -0.907078588)
+            double3 xformOp:translate = (2.0300924956, 8.76259587524, 0.740609162825)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.07535204, -0.000101382651, -0.000500900563, -0.997156863)
+            double3 xformOp:translate = (1.84042087851, 8.25280183922, 0.749163017758)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.612336396, -0.000360610317, -0.000362132594, -0.790597165)
+            double3 xformOp:translate = (3.53081257743, 8.74941930027, 0.759049678163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976013947, -0.000481160364, 0.000172233912, 0.217707403)
+            double3 xformOp:translate = (1.77431272668, 8.69466544311, 0.774961525265)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997276911, -0.000510406896, 2.578016e-05, -0.0737461995)
+            double3 xformOp:translate = (1.78511878462, 8.42415267214, 0.749802969861)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.648248197, -0.000376973941, -0.000345065884, -0.761428929)
+            double3 xformOp:translate = (2.90945320392, 8.28524810731, 0.809035258975)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.942519691, -0.000456798176, 0.000229162045, 0.334150223)
+            double3 xformOp:translate = (3.58420042496, 8.31373284261, 0.792624875836)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.452880858, -0.000286144611, -0.00042343958, -0.891570899)
+            double3 xformOp:translate = (3.57001052167, 8.53893091453, 0.774891959313)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.966660473, -0.000473987343, 0.000191091118, 0.256061064)
+            double3 xformOp:translate = (3.43972793845, 8.37781303437, 0.822731738989)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.359463552, -0.000123173574, 0.000495992023, 0.933158986)
+            double3 xformOp:translate = (2.41880186449, 8.27742539306, 0.776018109679)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.914066532, -0.00048923042, -0.000147761336, -0.405563946)
+            double3 xformOp:translate = (2.00360139738, 8.2307444883, 0.841408997916)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998809074, -0.000509602703, 3.8534424e-05, -0.0487870152)
+            double3 xformOp:translate = (2.44905539206, 8.84744136442, 0.7478880143)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.309943502, -0.000217408131, -0.00046250786, -0.950754839)
+            double3 xformOp:translate = (1.85106135139, 8.59954204262, 0.748809994527)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991811245, -0.000494872723, 0.000127596253, 0.127711367)
+            double3 xformOp:translate = (3.4660923325, 8.88286055215, 0.748001436474)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.511192522, -0.000204786241, 0.000468233288, 0.859466081)
+            double3 xformOp:translate = (3.73381142412, 8.25000604783, 0.805161691119)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.250836951, -0.000188528597, -0.000475012404, -0.968029216)
+            double3 xformOp:translate = (3.10274449472, 8.28395425178, 0.748952949345)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.393242594, 0, 0, 0.919434751)
+            double3 xformOp:translate = (4.85118120504, 8.10577635136, 0.967523083811)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.605495503, -0.000256638992, 0.000441945974, 0.795848562)
+            double3 xformOp:translate = (3.22652945829, 8.40760457281, 0.810989325318)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.521498173, -0.000210406051, 0.000465735021, 0.853252245)
+            double3 xformOp:translate = (2.23017222993, 8.27447799956, 0.746768681056)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.576276211, -0.0003440124, -0.000377935557, -0.817254836)
+            double3 xformOp:translate = (3.33157176897, 8.53512246905, 0.740674974791)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995000755, -0.000498254189, 0.000113677525, 0.0998660877)
+            double3 xformOp:translate = (3.63095005742, 8.88745170491, 0.779625684089)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995679777, -0.000499042869, 0.000110163658, 0.0928521416)
+            double3 xformOp:translate = (1.99366482773, 8.4705703838, 0.746638464171)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.419375359, 0, 0, 0.907812926)
+            double3 xformOp:translate = (4.97295648086, 8.42299161595, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506142416, -0.000202036234, 0.000469426433, 0.862449763)
+            double3 xformOp:translate = (3.1872771441, 8.55926002074, 0.743708201105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999854066, -0.000508123717, 5.46818438e-05, -0.0170758872)
+            double3 xformOp:translate = (2.70203889539, 8.8638740334, 0.77929247717)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996655933, 0, 0, 0.0817126104)
+            double3 xformOp:translate = (4.82632463541, 8.73153863619, 1.06183489214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.699834589, -0.000309645692, 0.000406570242, 0.714304758)
+            double3 xformOp:translate = (3.72673346566, 8.9047168859, 0.810421761607)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.802457521, -0.000369137172, 0.00035343679, 0.596709029)
+            double3 xformOp:translate = (3.20596406748, 8.21830941305, 0.746375676972)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0176715548, 5.43791156e-05, 0.000508156204, 0.999843715)
+            double3 xformOp:translate = (2.6255085723, 8.19605697585, 0.7882045978)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0028/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0028/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9a1b0fa5257d88e5f92e0bf8c99ae334227752f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0028/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8618464254058704125,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "electronics": 7,
+    "small object": 7,
+    "electronics accessory": 1,
+    "clock": 3,
+    "drinkware/container": 2,
+    "office_supply": 2,
+    "office_supplies": 1,
+    "book": 1
+  },
+  "failed_sampling_attempt_count": 219,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.712225063146262,
+        8.457112779456466,
+        0.7407058655298634
+      ],
+      "rotation_wxyz": [
+        0.9122383815981221,
+        -0.0004366584896340693,
+        0.00026553564670455445,
+        0.4096594609665728
+      ],
+      "yaw_degrees_local": 48.308185238395794,
+      "yaw_radians": 0.8441613343217017,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.712225063146262,
+        8.457112779456466,
+        0.7907059594071789
+      ],
+      "z_min": 0.7407058655298634,
+      "z_max": 0.8407060532844944
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.0300924955997273,
+        8.762595875238517,
+        0.7406091628254736
+      ],
+      "rotation_wxyz": [
+        0.4209610134885101,
+        -0.00027093996855887225,
+        -0.00043332591623122417,
+        -0.9070785875231044
+      ],
+      "yaw_degrees_local": -130.26815314899122,
+      "yaw_radians": -2.272583731748445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0300924955997273,
+        8.762595875238517,
+        0.7906092567027891
+      ],
+      "z_min": 0.7406091628254736,
+      "z_max": 0.8406093505801047
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        1.8404208785072336,
+        8.252801839222602,
+        0.7491630177581448
+      ],
+      "rotation_wxyz": [
+        0.07535204004355646,
+        -0.0001013826512115699,
+        -0.0005009005632594416,
+        -0.9971568627259496
+      ],
+      "yaw_degrees_local": -171.41580938427532,
+      "yaw_radians": -2.99074571017688,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8404208785072336,
+        8.252801839222602,
+        0.7569923569429627
+      ],
+      "z_min": 0.741150248132582,
+      "z_max": 0.756808926502218
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        3.5308125774269685,
+        8.749419300274274,
+        0.7590496781626741
+      ],
+      "rotation_wxyz": [
+        0.6123363956368755,
+        -0.00036061031703809557,
+        -0.0003621325937912753,
+        -0.7905971650585549
+      ],
+      "yaw_degrees_local": -104.5414348617778,
+      "yaw_radians": -1.82356761935849,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5308125774269685,
+        8.749419300274274,
+        0.7779673230377033
+      ],
+      "z_min": 0.7404323937409141,
+      "z_max": 0.7773956922791592
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.7743127266761562,
+        8.69466544310644,
+        0.774961525265111
+      ],
+      "rotation_wxyz": [
+        0.9760139473186218,
+        -0.000481160363838246,
+        0.00017223391219896078,
+        0.21770740331855118
+      ],
+      "yaw_degrees_local": 25.090119626158213,
+      "yaw_radians": 0.43892965150346575,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7743127266761562,
+        8.69466544310644,
+        0.8091670449776128
+      ],
+      "z_min": 0.7407104855302374,
+      "z_max": 0.8091215249552411
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        1.7851187846230627,
+        8.424152672143595,
+        0.7498029698606303
+      ],
+      "rotation_wxyz": [
+        0.9972769108359274,
+        -0.0005104068961027121,
+        2.5780160028745173e-05,
+        -0.0737461994528094
+      ],
+      "yaw_degrees_local": -8.517082151233808,
+      "yaw_radians": -0.14762642388935313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7851187846230627,
+        8.424152672143595,
+        0.7586050929840243
+      ],
+      "z_min": 0.7409834658628754,
+      "z_max": 0.7585877121096636
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.909453203918644,
+        8.285248107307343,
+        0.8090352589751574
+      ],
+      "rotation_wxyz": [
+        0.6482481968463065,
+        -0.0003769739408445319,
+        -0.0003450658838025804,
+        -0.7614289291231954
+      ],
+      "yaw_degrees_local": -99.23939114150951,
+      "yaw_radians": -1.7310294517370628,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.909453203918644,
+        8.285248107307343,
+        0.8770906025287433
+      ],
+      "z_min": 0.7409819238528479,
+      "z_max": 0.8770926109600196
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20339494477758824,
+        0.1107086488517261,
+        0.10351778344946472
+      ],
+      "bbox_min_m": [
+        -0.10167640403053668,
+        -0.055279065976485874,
+        -0.05175734185909191
+      ],
+      "bbox_max_m": [
+        0.1017185407470516,
+        0.05542958287524019,
+        0.051760441590372776
+      ],
+      "translation_world": [
+        3.584200424962801,
+        8.313732842607946,
+        0.7926248758355562
+      ],
+      "rotation_wxyz": [
+        0.9425196907928164,
+        -0.0004567981760022648,
+        0.00022916204450413794,
+        0.3341502226364628
+      ],
+      "yaw_degrees_local": 38.98303831330372,
+      "yaw_radians": 0.681406800154724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.584200424962801,
+        8.313732842607946,
+        0.8443837675602885
+      ],
+      "z_min": 0.7408675339764643,
+      "z_max": 0.8443853174259289
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        3.5700105216742655,
+        8.538930914531775,
+        0.7748919593125645
+      ],
+      "rotation_wxyz": [
+        0.45288085808724093,
+        -0.00028614461055021727,
+        -0.00042343958021585215,
+        -0.8915708985820188
+      ],
+      "yaw_degrees_local": -126.20136763393549,
+      "yaw_radians": -2.2016049172098273,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5700105216742655,
+        8.538930914531775,
+        0.8090974790250663
+      ],
+      "z_min": 0.740640919577691,
+      "z_max": 0.8090519590026947
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.439727938452398,
+        8.37781303437403,
+        0.8227317389894777
+      ],
+      "rotation_wxyz": [
+        0.9666604731023307,
+        -0.00047398734255324487,
+        0.0001910911178983091,
+        0.2560610641268252
+      ],
+      "yaw_degrees_local": 29.614228095453484,
+      "yaw_radians": 0.5178902252865862,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.439727938452398,
+        8.37781303437403,
+        0.9046677480302966
+      ],
+      "z_min": 0.7408208623609505,
+      "z_max": 0.9046928804425882
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.418801864492203,
+        8.27742539305644,
+        0.7760181096792821
+      ],
+      "rotation_wxyz": [
+        0.3594635522470762,
+        -0.00012317357393536738,
+        0.0004959920230450296,
+        0.9331589861465717
+      ],
+      "yaw_degrees_local": 137.80677463194348,
+      "yaw_radians": 2.4062068844744835,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.418801864492203,
+        8.27742539305644,
+        0.8111311840224674
+      ],
+      "z_min": 0.7410520066923512,
+      "z_max": 0.8112781553787219
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.0036013973751845,
+        8.230744488300875,
+        0.8414089979160326
+      ],
+      "rotation_wxyz": [
+        0.914066531959565,
+        -0.0004892304198650506,
+        -0.0001477613363467553,
+        -0.4055639456011809
+      ],
+      "yaw_degrees_local": -47.911660458586056,
+      "yaw_radians": -0.8351912766914272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0036013973751845,
+        8.230744488300875,
+        0.9416258779786826
+      ],
+      "z_min": 0.7411519924377541,
+      "z_max": 0.9415857525630541
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.449055392063185,
+        8.847441364424647,
+        0.74788801429961
+      ],
+      "rotation_wxyz": [
+        0.9988090738315129,
+        -0.0005096027025134826,
+        3.853442397736936e-05,
+        -0.048787015198919446
+      ],
+      "yaw_degrees_local": -5.651511418690092,
+      "yaw_radians": -0.09761280577175435,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.449055392063185,
+        8.847441364424647,
+        0.7554279169427095
+      ],
+      "z_min": 0.7404700306066982,
+      "z_max": 0.7555498358928971
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        1.851061351387632,
+        8.599542042619126,
+        0.7488099945268342
+      ],
+      "rotation_wxyz": [
+        0.3099435016990899,
+        -0.00021740813120769918,
+        -0.0004625078601765471,
+        -0.9507548393643286
+      ],
+      "yaw_degrees_local": -143.94705419087362,
+      "yaw_radians": -2.5113256147389116,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.851061351387632,
+        8.599542042619126,
+        0.7566393337116522
+      ],
+      "z_min": 0.7407972249012714,
+      "z_max": 0.7564559032709074
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.4660923324984205,
+        8.882860552152632,
+        0.7480014364744935
+      ],
+      "rotation_wxyz": [
+        0.9918112449750018,
+        -0.0004948727233982204,
+        0.00012759625338050126,
+        0.12771136660971444
+      ],
+      "yaw_degrees_local": 14.616013278538105,
+      "yaw_radians": 0.2561220652626925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4660923324984205,
+        8.882860552152632,
+        0.7558563428182941
+      ],
+      "z_min": 0.7403052477522731,
+      "z_max": 0.7560150604398743
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.733811424123772,
+        8.250006047831477,
+        0.8051616911191998
+      ],
+      "rotation_wxyz": [
+        0.5111925217982186,
+        -0.00020478624102039715,
+        0.000468233287719966,
+        0.8594660810513477
+      ],
+      "yaw_degrees_local": 118.45468925643746,
+      "yaw_radians": 2.0684492794186986,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.733811424123772,
+        8.250006047831477,
+        0.8693506452069203
+      ],
+      "z_min": 0.7409132183859333,
+      "z_max": 0.8692911265613743
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.102744494717423,
+        8.283954251781694,
+        0.7489529493449294
+      ],
+      "rotation_wxyz": [
+        0.25083695063048184,
+        -0.00018852859719344778,
+        -0.00047501240434391113,
+        -0.9680292159943238
+      ],
+      "yaw_degrees_local": -151.00461828441902,
+      "yaw_radians": -2.634503333543536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.102744494717423,
+        8.283954251781694,
+        0.7570483747123635
+      ],
+      "z_min": 0.740958714527178,
+      "z_max": 0.7571495652620462
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        4.851181205035673,
+        8.105776351363337,
+        0.9675230838110815
+      ],
+      "rotation_wxyz": [
+        -0.3932425941327024,
+        0.0,
+        0.0,
+        0.9194347514423102
+      ],
+      "yaw_degrees_local": 136.31282829503994,
+      "yaw_radians": -2.333281313930555,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.851181205035673,
+        8.105776351363337,
+        1.0148892104723366
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149322822188418
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.2265294582895963,
+        8.407604572810113,
+        0.8109893253184931
+      ],
+      "rotation_wxyz": [
+        0.6054955032730555,
+        -0.0002566389920378001,
+        0.00044194597408069524,
+        0.7958485624390442
+      ],
+      "yaw_degrees_local": 105.41226549492268,
+      "yaw_radians": 1.8408159802662412,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2265294582895963,
+        8.407604572810113,
+        0.881165691550412
+      ],
+      "z_min": 0.740817653178273,
+      "z_max": 0.8811703856421107
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.230172229934554,
+        8.274477999559705,
+        0.7467686810562754
+      ],
+      "rotation_wxyz": [
+        0.521498173345556,
+        -0.00021040605123599193,
+        0.0004657350210619658,
+        0.8532522452460541
+      ],
+      "yaw_degrees_local": 117.07568091929528,
+      "yaw_radians": 2.044381039200716,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.230172229934554,
+        8.274477999559705,
+        0.7525997320810616
+      ],
+      "z_min": 0.7410788803269507,
+      "z_max": 0.7527409823765231
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.3315717689653193,
+        8.535122469045643,
+        0.7406749747913979
+      ],
+      "rotation_wxyz": [
+        0.5762762110654452,
+        -0.00034401240001996397,
+        -0.0003779355565077424,
+        -0.8172548362538079
+      ],
+      "yaw_degrees_local": -109.68058964744942,
+      "yaw_radians": -1.913262835144713,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3315717689653193,
+        8.535122469045643,
+        0.8906749807518624
+      ],
+      "z_min": 0.7406749747913979,
+      "z_max": 1.0406749867123268
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.630950057421977,
+        8.887451704908232,
+        0.7796256840894701
+      ],
+      "rotation_wxyz": [
+        0.9950007554544076,
+        -0.0004982541886145508,
+        0.0001136775253441431,
+        0.09986608766414291
+      ],
+      "yaw_degrees_local": 11.404209611743937,
+      "yaw_radians": 0.20006553864390234,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.630950057421977,
+        8.887451704908232,
+        0.8189745434153459
+      ],
+      "z_min": 0.7402797201315338,
+      "z_max": 0.8189774387832854
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        1.9936648277304532,
+        8.47057038380155,
+        0.7466384641713804
+      ],
+      "rotation_wxyz": [
+        0.995679777143853,
+        -0.0004990428686418114,
+        0.00011016365779178047,
+        0.09285214163901304
+      ],
+      "yaw_degrees_local": 10.596711200160598,
+      "yaw_radians": 0.18597203858555464,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9936648277304532,
+        8.47057038380155,
+        0.7522655910615992
+      ],
+      "z_min": 0.7409099628941758,
+      "z_max": 0.7521642166746134
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.972956480863551,
+        8.422991615948163,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        -0.4193753585815766,
+        0.0,
+        0.0,
+        0.9078129260010425
+      ],
+      "yaw_degrees_local": 139.5903150983483,
+      "yaw_radians": -2.2760783780221603,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.972956480863551,
+        8.422991615948163,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.1872771441025454,
+        8.559260020737375,
+        0.7437082011049427
+      ],
+      "rotation_wxyz": [
+        0.5061424164696734,
+        -0.00020203623417711504,
+        0.0004694264333416287,
+        0.862449762635728
+      ],
+      "yaw_degrees_local": 119.12684496687586,
+      "yaw_radians": 2.0801806115516035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1872771441025454,
+        8.559260020737375,
+        0.7468202043488184
+      ],
+      "z_min": 0.7406687775881021,
+      "z_max": 0.7468927840758532
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        2.7020388953852086,
+        8.863874033399169,
+        0.7792924771697404
+      ],
+      "rotation_wxyz": [
+        0.9998540657990488,
+        -0.0005081237174185067,
+        5.468184376106967e-05,
+        -0.017075887247677113
+      ],
+      "yaw_degrees_local": -2.0155583223629208,
+      "yaw_radians": -0.034153485693449726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7020388953852086,
+        8.863874033399169,
+        0.818239908704747
+      ],
+      "z_min": 0.7404213272016194,
+      "z_max": 0.8183161902716328
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        4.826324635406803,
+        8.731538636192573,
+        1.0618348921354523
+      ],
+      "rotation_wxyz": [
+        0.996655933259234,
+        0.0,
+        0.0,
+        0.08171261040479288
+      ],
+      "yaw_degrees_local": -80.62597312642437,
+      "yaw_radians": 0.16360763311432525,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.826324635406803,
+        8.731538636192573,
+        1.2033956793312037
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2033216032878347
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.726733465655143,
+        8.904716885904536,
+        0.8104217616066127
+      ],
+      "rotation_wxyz": [
+        0.6998345890198463,
+        -0.0003096456920814032,
+        0.0004065702419210504,
+        0.7143047576711266
+      ],
+      "yaw_degrees_local": 91.11380579756934,
+      "yaw_radians": 1.5912606698683216,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.726733465655143,
+        8.904716885904536,
+        0.8805981278385315
+      ],
+      "z_min": 0.7402500894663926,
+      "z_max": 0.8806028219302303
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.205964067477067,
+        8.218309413054074,
+        0.7463756769719769
+      ],
+      "rotation_wxyz": [
+        0.802457521257935,
+        -0.0003691371718334631,
+        0.00035343679012109783,
+        0.5967090290893501
+      ],
+      "yaw_degrees_local": 73.21042278236155,
+      "yaw_radians": 1.2787875284696135,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.205964067477067,
+        8.218309413054074,
+        0.7517111176669777
+      ],
+      "z_min": 0.7410122142251668,
+      "z_max": 0.7516830956151684
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.6255085723019067,
+        8.19605697584638,
+        0.7882045977999469
+      ],
+      "rotation_wxyz": [
+        0.01767155475610762,
+        5.4379115551534706e-05,
+        0.0005081562043625419,
+        0.9998437152738853
+      ],
+      "yaw_degrees_local": 177.9161728951446,
+      "yaw_radians": 3.1062476534779697,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6255085723019067,
+        8.19605697584638,
+        0.8353103484865794
+      ],
+      "z_min": 0.7411083495241323,
+      "z_max": 0.8353198508973972
+    }
+  ],
+  "variant_index": 28
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0029/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0029/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..83a50f78c5eaf196b2bf6a0cbed91d7ed796f8c7
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0029/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2490020144405200400
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999700687, -0.000508513703, 5.09276928e-05, -0.0244596706)
+            double3 xformOp:translate = (2.57153756137, 8.29266471223, 0.741017177441)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0865185935, -0.000106987945, -0.000499733325, -0.996250105)
+            double3 xformOp:translate = (3.42972714664, 8.31886504642, 0.740578177243)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.932521324, -0.00045001964, 0.000242202684, 0.361114551)
+            double3 xformOp:translate = (1.78490996472, 8.84747074099, 0.808607515578)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.296004484, -0.000210620175, -0.000465638226, -0.955186413)
+            double3 xformOp:translate = (3.17834201851, 8.41591363525, 0.787405552809)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981836184, 0, 0, 0.189730619)
+            double3 xformOp:translate = (4.97385408478, 8.08403593485, 0.95079202963)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.883937691, -0.000477881902, -0.000181131731, -0.467604423)
+            double3 xformOp:translate = (3.55735032496, 8.80423211629, 0.749550359003)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.922887007, -0.000492405154, -0.000136810016, -0.385070528)
+            double3 xformOp:translate = (3.71896342787, 8.22174563595, 0.775013389312)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998952412, -0.000509483518, 4.00794406e-05, -0.0457582483)
+            double3 xformOp:translate = (1.89455202409, 8.28505196668, 0.755439708178)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.229762944, -5.48607607e-05, 0.000508104431, 0.973246489)
+            double3 xformOp:translate = (2.91718293548, 8.26908833022, 0.882632235928)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.927350686, -0.000493979664, -0.000131011099, -0.374193056)
+            double3 xformOp:translate = (1.94541299898, 8.55528961784, 0.748526341232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987824552, -0.000510797111, -1.63134059e-05, -0.155571181)
+            double3 xformOp:translate = (2.23851963397, 8.84987561899, 0.745747383362)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.513191672, -0.000314619802, -0.000402733406, -0.858273876)
+            double3 xformOp:translate = (3.14451975717, 8.2097104518, 0.74102871783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.610324219, -0.000259321918, 0.000440377064, 0.792151555)
+            double3 xformOp:translate = (2.38894883888, 8.31888590477, 0.787603978456)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.145986224, -0.00013670378, -0.000492434658, -0.989286491)
+            double3 xformOp:translate = (3.61035690667, 8.56275434174, 0.747592634513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.84543863, -0.000462569192, -0.000217277608, -0.534072338)
+            double3 xformOp:translate = (1.91569246065, 8.88745192512, 0.840754082263)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973942888, -0.000479534529, 0.000176710077, 0.226792836)
+            double3 xformOp:translate = (3.16378028118, 8.79751320393, 0.746158613304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.652903714, -0.000283113608, 0.000425472092, 0.757440743)
+            double3 xformOp:translate = (2.24905478623, 8.27226822925, 0.766105442837)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0928154618, -0.000110145274, -0.000499046927, -0.995683197)
+            double3 xformOp:translate = (3.71995576975, 8.6667457708, 0.749526183814)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.510523035, -0.000313367224, -0.000403708805, -0.859863925)
+            double3 xformOp:translate = (3.05222678519, 8.33751052635, 0.788434620686)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.836790189, -0.000389663749, 0.000330668987, 0.547523441)
+            double3 xformOp:translate = (3.27271761272, 8.51379164829, 0.777359635955)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.871910515, 0, 0, 0.489665246)
+            double3 xformOp:translate = (4.85625308641, 8.17420289298, 0.926858452162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.130848694, -0.00012916133, -0.000494466548, -0.991402218)
+            double3 xformOp:translate = (2.80610527149, 8.83102773914, 0.818401277828)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.950263136, -0.000462163213, 0.000218139819, 0.311447767)
+            double3 xformOp:translate = (1.74760509273, 8.50672043247, 0.779775641676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983357911, -0.000510185898, -2.98356412e-05, -0.181678171)
+            double3 xformOp:translate = (2.22896607432, 8.82579169099, 0.745883335639)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.920768746, -0.000442222936, 0.000256161455, 0.390108518)
+            double3 xformOp:translate = (2.01220628147, 8.68246485011, 0.777348270365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.480324662, -0.000188016132, 0.000475215478, 0.877090621)
+            double3 xformOp:translate = (3.61621182736, 8.36546140444, 0.818345778067)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99949483, -0.00050484664, 7.9433531e-05, 0.0317777225)
+            double3 xformOp:translate = (2.72281883873, 8.23727614963, 0.794964251931)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.534684835, -0.000217612746, 0.000462411623, 0.845051399)
+            double3 xformOp:translate = (3.73517873878, 8.42053554531, 0.819449666259)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.28465135, -0.000205081035, -0.000468104246, -0.958630976)
+            double3 xformOp:translate = (1.73016579444, 8.6926721641, 0.81942769393)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.856990577, -0.000401947045, 0.00031562381, 0.515331825)
+            double3 xformOp:translate = (2.48314509759, 8.86483596679, 0.822358984778)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0029/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0029/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..50dbe356bf93339ee22009460b758dfc3761539a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0029/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2490020144405200400,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 3,
+    "small object": 5,
+    "electronics": 3,
+    "writing_instrument": 1,
+    "office_supply": 2,
+    "drinkware/container": 1,
+    "small electronic device": 2,
+    "small prop": 1,
+    "clock": 2,
+    "small_electronics": 1,
+    "timepiece": 2
+  },
+  "failed_sampling_attempt_count": 189,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.571537561367401,
+        8.29266471223342,
+        0.7410171774407326
+      ],
+      "rotation_wxyz": [
+        0.9997006868739422,
+        -0.0005085137032054172,
+        5.0927692787180917e-05,
+        -0.024459670560988807
+      ],
+      "yaw_degrees_local": -2.861862125099151,
+      "yaw_radians": -0.048924265913360826,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.571537561367401,
+        8.29266471223342,
+        0.7635141891545156
+      ],
+      "z_min": 0.7410171804356671,
+      "z_max": 0.7860112038632332
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.4297271466363983,
+        8.318865046415523,
+        0.7405781772432402
+      ],
+      "rotation_wxyz": [
+        0.08651859350260203,
+        -0.00010698794505468129,
+        -0.0004997333247375936,
+        -0.9962501050431641
+      ],
+      "yaw_degrees_local": -170.13199789327044,
+      "yaw_radians": -2.9683389825201774,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4297271466363983,
+        8.318865046415523,
+        0.749390244647746
+      ],
+      "z_min": 0.7408818734730612,
+      "z_max": 0.7585060082820728
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.7849099647241422,
+        8.847470740993883,
+        0.8086075155775858
+      ],
+      "rotation_wxyz": [
+        0.9325213240835756,
+        -0.00045001963984585725,
+        0.00024220268370378877,
+        0.361114551007847
+      ],
+      "yaw_degrees_local": 42.27861577379622,
+      "yaw_radians": 0.7389254805357907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7849099647241422,
+        8.847470740993883,
+        0.8766628591311717
+      ],
+      "z_min": 0.7405541804552762,
+      "z_max": 0.876664867562448
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.178342018511861,
+        8.415913635250831,
+        0.7874055528090939
+      ],
+      "rotation_wxyz": [
+        0.2960044836826833,
+        -0.0002106201753855519,
+        -0.00046563822648153794,
+        -0.9551864134607088
+      ],
+      "yaw_degrees_local": -145.62314502145844,
+      "yaw_radians": -2.5405789169073327,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.178342018511861,
+        8.415913635250831,
+        0.8339871560750118
+      ],
+      "z_min": 0.7408153189443938,
+      "z_max": 0.8339785254762297
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        4.973854084781324,
+        8.084035934854771,
+        0.9507920296297073
+      ],
+      "rotation_wxyz": [
+        0.9818361840528911,
+        0.0,
+        0.0,
+        0.18973061873207914
+      ],
+      "yaw_degrees_local": -68.12587232390182,
+      "yaw_radians": 0.3817755489495288,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.973854084781324,
+        8.084035934854771,
+        0.9813944311351
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9814048319071174
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17833628091672266,
+        0.24234621388359467,
+        0.017836933528484637
+      ],
+      "bbox_min_m": [
+        -0.08903270824870184,
+        -0.12116652095847395,
+        -0.009176925477404214
+      ],
+      "bbox_max_m": [
+        0.0893035726680208,
+        0.12117969292512071,
+        0.008660008051080373
+      ],
+      "translation_world": [
+        3.5573503249640854,
+        8.804232116288855,
+        0.7495503590029724
+      ],
+      "rotation_wxyz": [
+        0.8839376914471236,
+        -0.0004778819020738702,
+        -0.00018113173082199747,
+        -0.46760442305362515
+      ],
+      "yaw_degrees_local": -55.81653129913704,
+      "yaw_radians": -0.9731572990132676,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5573503249640854,
+        8.804232116288855,
+        0.7584688257672147
+      ],
+      "z_min": 0.7403734335255682,
+      "z_max": 0.7582103670540528
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.718963427870895,
+        8.221745635947123,
+        0.7750133893121885
+      ],
+      "rotation_wxyz": [
+        0.9228870066320827,
+        -0.0004924051541892349,
+        -0.00013681001559896305,
+        -0.38507052835793354
+      ],
+      "yaw_degrees_local": -45.35495430039833,
+      "yaw_radians": -0.7905683407079676,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.718963427870895,
+        8.221745635947123,
+        0.8090119454828674
+      ],
+      "z_min": 0.7409437464985628,
+      "z_max": 0.8089408588399204
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        1.8945520240894598,
+        8.285051966677639,
+        0.7554397081781182
+      ],
+      "rotation_wxyz": [
+        0.9989524120465274,
+        -0.0005094835175791764,
+        4.007944055824291e-05,
+        -0.045758248290432034
+      ],
+      "yaw_degrees_local": -5.3040516658518015,
+      "yaw_radians": -0.09154849222870898,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8945520240894598,
+        8.285051966677639,
+        0.7695360098105241
+      ],
+      "z_min": 0.7411106838381561,
+      "z_max": 0.7693032871029678
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.9171829354803154,
+        8.269088330219095,
+        0.8826322359282612
+      ],
+      "rotation_wxyz": [
+        0.2297629436747514,
+        -5.4860760688547186e-05,
+        0.0005081044313691689,
+        0.9732464890941539
+      ],
+      "yaw_degrees_local": 153.37505473380628,
+      "yaw_radians": 2.67792454963254,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9171829354803154,
+        8.269088330219095,
+        1.0241930231240126
+      ],
+      "z_min": 0.7409973726891407,
+      "z_max": 1.0241189470806435
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        1.9454129989842501,
+        8.55528961784224,
+        0.7485263412317946
+      ],
+      "rotation_wxyz": [
+        0.9273506864160488,
+        -0.0004939796636492052,
+        -0.00013101109930586285,
+        -0.3741930560871851
+      ],
+      "yaw_degrees_local": -44.007611577291016,
+      "yaw_radians": -0.767052777215112,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9454129989842501,
+        8.55528961784224,
+        0.7563812475755952
+      ],
+      "z_min": 0.7408301525095743,
+      "z_max": 0.7565399651971755
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.238519633970164,
+        8.84987561898832,
+        0.7457473833620876
+      ],
+      "rotation_wxyz": [
+        0.9878245524211977,
+        -0.0005107971114122864,
+        -1.631340593429008e-05,
+        -0.15557118130953632
+      ],
+      "yaw_degrees_local": -17.958561553488238,
+      "yaw_radians": -0.3124112419389616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.238519633970164,
+        8.84987561898832,
+        0.7509832986802211
+      ],
+      "z_min": 0.7404942356930064,
+      "z_max": 0.7509660663292734
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.1445197571745056,
+        8.209710451796607,
+        0.7410287178296668
+      ],
+      "rotation_wxyz": [
+        0.5131916716058895,
+        -0.00031461980196558853,
+        -0.00040273340617764307,
+        -0.8582738764605019
+      ],
+      "yaw_degrees_local": -118.30538102604594,
+      "yaw_radians": -2.0637939072249285,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1445197571745056,
+        8.209710451796607,
+        0.7910288117069824
+      ],
+      "z_min": 0.7410287178296668,
+      "z_max": 0.8410289055842979
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.3889488388837257,
+        8.318885904766873,
+        0.7876039784557564
+      ],
+      "rotation_wxyz": [
+        0.6103242190791491,
+        -0.00025932191828894095,
+        0.0004403770644972969,
+        0.7921515552125179
+      ],
+      "yaw_degrees_local": 104.7153784345536,
+      "yaw_radians": 1.828653002015714,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3889488388837257,
+        8.318885904766873,
+        0.8341855817216743
+      ],
+      "z_min": 0.7410137445910563,
+      "z_max": 0.8341769511228923
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.61035690666516,
+        8.562754341738474,
+        0.7475926345131678
+      ],
+      "rotation_wxyz": [
+        0.14598622351481924,
+        -0.00013670378038099627,
+        -0.0004924346582744323,
+        -0.9892864910449679
+      ],
+      "yaw_degrees_local": -163.26992146423893,
+      "yaw_radians": -2.8485732024433696,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.61035690666516,
+        8.562754341738474,
+        0.7545759153220084
+      ],
+      "z_min": 0.7406116309142861,
+      "z_max": 0.7545781925319672
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.9156924606503698,
+        8.887451925124981,
+        0.8407540822632609
+      ],
+      "rotation_wxyz": [
+        0.8454386297495484,
+        -0.0004625691921306082,
+        -0.0002172776075253707,
+        -0.534072337935031
+      ],
+      "yaw_degrees_local": -64.6207628876496,
+      "yaw_radians": -1.1268201504838657,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9156924606503698,
+        8.887451925124981,
+        0.9409709623259108
+      ],
+      "z_min": 0.7404970767849823,
+      "z_max": 0.9409308369102823
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.1637802811793767,
+        8.797513203925094,
+        0.7461586133040804
+      ],
+      "rotation_wxyz": [
+        0.973942887654772,
+        -0.0004795345293441559,
+        0.00017671007726496933,
+        0.22679283588082802
+      ],
+      "yaw_degrees_local": 26.157944645966182,
+      "yaw_radians": 0.4575667099139042,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1637802811793767,
+        8.797513203925094,
+        0.7517857401942992
+      ],
+      "z_min": 0.7404301120268758,
+      "z_max": 0.7516843658073135
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        2.249054786229739,
+        8.272268229248017,
+        0.7661054428369193
+      ],
+      "rotation_wxyz": [
+        0.6529037138822112,
+        -0.00028311360833420407,
+        0.0004254720919358865,
+        0.7574407430413282
+      ],
+      "yaw_degrees_local": 98.41949886080289,
+      "yaw_radians": 1.71876912869483,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.249054786229739,
+        8.272268229248017,
+        0.7910496844070446
+      ],
+      "z_min": 0.7410787392068893,
+      "z_max": 0.7909672223471399
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.7199557697477097,
+        8.666745770799881,
+        0.7495261838141667
+      ],
+      "rotation_wxyz": [
+        0.09281546177593482,
+        -0.00011014527350046625,
+        -0.0004990469266169466,
+        -0.995683197043871
+      ],
+      "yaw_degrees_local": -169.40751023284685,
+      "yaw_radians": -2.9556942928780576,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7199557697477097,
+        8.666745770799881,
+        0.7583594299176489
+      ],
+      "z_min": 0.7404922742343674,
+      "z_max": 0.7581587664413318
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.052226785193421,
+        8.33751052634718,
+        0.78843462068613
+      ],
+      "rotation_wxyz": [
+        0.5105230352973351,
+        -0.000313367224341769,
+        -0.0004037088046459329,
+        -0.8598639248456583
+      ],
+      "yaw_degrees_local": -118.66135125023261,
+      "yaw_radians": -2.0700067620646165,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.052226785193421,
+        8.33751052634718,
+        0.8359580978863738
+      ],
+      "z_min": 0.7409108173292724,
+      "z_max": 0.83595777172976
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.272717612717402,
+        8.51379164829049,
+        0.77735963595539
+      ],
+      "rotation_wxyz": [
+        0.8367901892759161,
+        -0.0003896637493799766,
+        0.00033066898654009175,
+        0.5475234405500466
+      ],
+      "yaw_degrees_local": 66.33585134053294,
+      "yaw_radians": 1.1588035659949703,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.272717612717402,
+        8.51379164829049,
+        0.8139698490245687
+      ],
+      "z_min": 0.7407040852311053,
+      "z_max": 0.8139245113694626
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        4.856253086406526,
+        8.174202892984711,
+        0.9268584521624881
+      ],
+      "rotation_wxyz": [
+        0.87191051522106,
+        0.0,
+        0.0,
+        0.48966524631317826
+      ],
+      "yaw_degrees_local": -31.362836874651492,
+      "yaw_radians": 1.0234115605663396,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.856253086406526,
+        8.174202892984711,
+        0.9334712564459758
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9334256374633073
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.806105271486617,
+        8.83102773914476,
+        0.8184012778278144
+      ],
+      "rotation_wxyz": [
+        0.13084869355429185,
+        -0.00012916132986430035,
+        -0.0004944665480171515,
+        -0.9914022181815608
+      ],
+      "yaw_degrees_local": -165.0214328234207,
+      "yaw_radians": -2.879142831469876,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.806105271486617,
+        8.83102773914476,
+        0.8963948022983126
+      ],
+      "z_min": 0.7404414760620546,
+      "z_max": 0.896428525003051
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        1.747605092727313,
+        8.506720432472129,
+        0.7797756416762264
+      ],
+      "rotation_wxyz": [
+        0.9502631357117992,
+        -0.0004621632133679062,
+        0.00021813981857919424,
+        0.3114477672537768
+      ],
+      "yaw_degrees_local": 36.23429717074771,
+      "yaw_radians": 0.6334322171174194,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.747605092727313,
+        8.506720432472129,
+        0.818723073211233
+      ],
+      "z_min": 0.7409044917081054,
+      "z_max": 0.8187993547781188
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.228966074315276,
+        8.825791690992892,
+        0.7458833356388835
+      ],
+      "rotation_wxyz": [
+        0.9833579109337295,
+        -0.0005101858982345692,
+        -2.983564115112007e-05,
+        -0.18167817101742112
+      ],
+      "yaw_degrees_local": -20.993760783032002,
+      "yaw_radians": -0.36538543679894814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.228966074315276,
+        8.825791690992892,
+        0.7512187763338843
+      ],
+      "z_min": 0.7405198728920734,
+      "z_max": 0.751190754282075
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.012206281469393,
+        8.682464850114142,
+        0.777348270364606
+      ],
+      "rotation_wxyz": [
+        0.9207687455997728,
+        -0.00044222293618727384,
+        0.0002561614548487319,
+        0.39010851816745157
+      ],
+      "yaw_degrees_local": 45.863799692951545,
+      "yaw_radians": 0.8014987512851437,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.012206281469393,
+        8.682464850114142,
+        0.8139584834337846
+      ],
+      "z_min": 0.7406927196403212,
+      "z_max": 0.8139131457786786
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        3.616211827358436,
+        8.365461404437605,
+        0.8183457780669485
+      ],
+      "rotation_wxyz": [
+        0.480324661624961,
+        -0.0001880161323748049,
+        0.00047521547765948496,
+        0.8770906214611184
+      ],
+      "yaw_degrees_local": 122.52806474306863,
+      "yaw_radians": 2.1395431027201637,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.616211827358436,
+        8.365461404437605,
+        0.896052611900381
+      ],
+      "z_min": 0.7408110267891027,
+      "z_max": 0.8962246944559676
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.7228188387340384,
+        8.237276149633162,
+        0.7949642519310427
+      ],
+      "rotation_wxyz": [
+        0.999494829987034,
+        -0.0005048466404667205,
+        7.943353101668366e-05,
+        0.03177772253283866
+      ],
+      "yaw_degrees_local": 3.583361974385724,
+      "yaw_radians": 0.06356605903426397,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7228188387340384,
+        8.237276149633162,
+        0.8488844542244409
+      ],
+      "z_min": 0.7410542179512165,
+      "z_max": 0.8488946225380128
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.735178738776802,
+        8.420535545309246,
+        0.8194496662586236
+      ],
+      "rotation_wxyz": [
+        0.5346848348648178,
+        -0.0002176127457988357,
+        0.0004624116230223933,
+        0.8450513985467195
+      ],
+      "yaw_degrees_local": 115.29619968079277,
+      "yaw_radians": 2.0133232262033176,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.735178738776802,
+        8.420535545309246,
+        0.8981603290832455
+      ],
+      "z_min": 0.7407400961959985,
+      "z_max": 0.8981614218452424
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        1.7301657944447482,
+        8.69267216409685,
+        0.8194276939297029
+      ],
+      "rotation_wxyz": [
+        0.2846513501104764,
+        -0.00020508103509256289,
+        -0.00046810424617351593,
+        -0.9586309757672485
+      ],
+      "yaw_degrees_local": -146.98268749683243,
+      "yaw_radians": -2.564307407645555,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7301657944447482,
+        8.69267216409685,
+        0.8981383567543249
+      ],
+      "z_min": 0.7407181238670778,
+      "z_max": 0.8981394495163217
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.4831450975946554,
+        8.8648359667921,
+        0.8223589847780067
+      ],
+      "rotation_wxyz": [
+        0.8569905769066022,
+        -0.00040194704461276747,
+        0.0003156238102034993,
+        0.5153318250539873
+      ],
+      "yaw_degrees_local": 61.98057300562297,
+      "yaw_radians": 1.082789587665255,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4831450975946554,
+        8.8648359667921,
+        0.9042949938188256
+      ],
+      "z_min": 0.7404481081494796,
+      "z_max": 0.9043201262311171
+    }
+  ],
+  "variant_index": 29
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0031/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0031/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..68ba79a4b675a73722356b7ccdad10082652bf36
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0031/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 194029400438983388
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.619883762, -0.000264642188, 0.000437200559, 0.784693482)
+            double3 xformOp:translate = (2.38438207384, 8.29747370496, 0.741036012816)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.650831312, -0.000378144082, -0.000343783172, -0.759222196)
+            double3 xformOp:translate = (2.95951769228, 8.26335915012, 0.740694049174)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.640407828, 0, 0, 0.768035035)
+            double3 xformOp:translate = (4.86255632013, 8.75628984358, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.395867585, -0.000142575492, 0.000490766793, 0.918307462)
+            double3 xformOp:translate = (3.38713144761, 8.29248341054, 0.77588014891)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.922137582, -0.000492138584, -0.000137765853, -0.386861757)
+            double3 xformOp:translate = (3.5883327795, 8.65452917826, 0.754850368582)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.140361405, -8.45612196e-06, 0.000510987583, 0.990100204)
+            double3 xformOp:translate = (2.01763849172, 8.80517792652, 0.745931018224)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.817450993, -0.00037805266, 0.000343883705, 0.575997927)
+            double3 xformOp:translate = (2.64223094247, 8.87081927911, 0.80847521121)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.693991371, -0.000397545421, -0.000321150206, -0.719983136)
+            double3 xformOp:translate = (1.84732822181, 8.36918116458, 0.788409542656)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997986699, -0.000510112766, 3.10609387e-05, -0.063421513)
+            double3 xformOp:translate = (3.74326137171, 8.861687884, 0.786881858307)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.942045057, -0.00045647286, 0.000229809365, 0.335485989)
+            double3 xformOp:translate = (3.39410656112, 8.65913592866, 0.786553903995)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.771783468, -0.000351100037, 0.000371360446, 0.635885224)
+            double3 xformOp:translate = (1.77750751511, 8.5682218182, 0.808891676719)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994014846, 0, 0, 0.109245069)
+            double3 xformOp:translate = (4.99779920866, 8.34198482487, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.761676671, -0.000427306827, -0.000280336747, -0.647957088)
+            double3 xformOp:translate = (2.02724992179, 8.70030323703, 0.746323141402)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.173112012, -2.53937858e-05, 0.000510426265, 0.98490201)
+            double3 xformOp:translate = (3.17852557665, 8.32210384524, 0.788006689135)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.389979423, -0.000139430123, 0.000491669663, 0.92082343)
+            double3 xformOp:translate = (3.55572627904, 8.83876412122, 0.743459541958)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99377759, -0.000496904393, 0.000119439693, 0.111381513)
+            double3 xformOp:translate = (1.77737063127, 8.82961993231, 0.857412845646)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.847846255, -0.000396365252, 0.000322605647, 0.530241894)
+            double3 xformOp:translate = (3.0924519844, 8.84861402669, 0.74470759112)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.89675397, -0.000426723784, 0.000281223449, 0.442529159)
+            double3 xformOp:translate = (2.07737163762, 8.25305779217, 0.81129167122)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0535333848, -9.04073281e-05, -0.000502997347, -0.998565929)
+            double3 xformOp:translate = (2.46072998742, 8.86469043459, 0.779797037496)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.625246717, -0.000267632113, 0.000435376697, 0.780426987)
+            double3 xformOp:translate = (2.23826023495, 8.29437928194, 0.755388533625)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.896408943, -0.00048266199, -0.000167979818, -0.443227646)
+            double3 xformOp:translate = (3.42249918462, 8.75763405219, 0.743477200883)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.136242211, -0.000131850426, -0.000493756298, -0.990675425)
+            double3 xformOp:translate = (3.63643229274, 8.19303581897, 0.777638873781)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.540203675, -0.000327257549, -0.000392533199, -0.841534151)
+            double3 xformOp:translate = (2.76540014141, 8.27356983112, 0.746309308399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981584649, -0.000509878902, -3.46889199e-05, -0.191027003)
+            double3 xformOp:translate = (1.91996336103, 8.61906650337, 0.743889619345)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.892653216, -0.000424123824, 0.000285129441, 0.450743802)
+            double3 xformOp:translate = (3.56201199605, 8.28413602697, 0.744409765918)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.434097937, -0.000277208312, -0.000429342949, -0.900865539)
+            double3 xformOp:translate = (2.16912298774, 8.86260606201, 0.747148540701)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.618348089, -0.000363361639, -0.000359371862, -0.78590418)
+            double3 xformOp:translate = (1.69411422409, 8.38397687543, 0.788615567188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.509159606, -0.000203678923, 0.000468716025, 0.860671967)
+            double3 xformOp:translate = (3.19511076477, 8.61308915752, 0.745976653778)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.404307542, -0.000262972667, -0.000438206792, -0.914622955)
+            double3 xformOp:translate = (3.34329891453, 8.52773029554, 0.752259720397)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99854075, -0.000509796941, 3.58733226e-05, -0.0540010158)
+            double3 xformOp:translate = (2.0760358376, 8.40481804212, 0.819675822721)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0031/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0031/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..22be861cd457e41171de1f70fc36b7e5efa1dcbd
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0031/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 194029400438983388,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 3,
+    "writing_instrument": 2,
+    "clock": 2,
+    "office_supply": 3,
+    "electronics": 7,
+    "paper goods": 2,
+    "small object": 2,
+    "small electronic device": 1,
+    "timepiece": 1
+  },
+  "failed_sampling_attempt_count": 129,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.384382073843331,
+        8.297473704955728,
+        0.7410360128155342
+      ],
+      "rotation_wxyz": [
+        0.6198837615679029,
+        -0.00026464218780107313,
+        0.00043720055886992435,
+        0.7846934821728873
+      ],
+      "yaw_degrees_local": 103.32598451021465,
+      "yaw_radians": 1.8044034940757467,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.384382073843331,
+        8.297473704955728,
+        0.7635330245293173
+      ],
+      "z_min": 0.7410360158104687,
+      "z_max": 0.7860300392380348
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        2.9595176922759343,
+        8.263359150121241,
+        0.7406940491739938
+      ],
+      "rotation_wxyz": [
+        0.6508313117524509,
+        -0.00037814408186896383,
+        -0.0003437831723452894,
+        -0.7592221957126702
+      ],
+      "yaw_degrees_local": -98.85008043809513,
+      "yaw_radians": -1.7242346946074685,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9595176922759343,
+        8.263359150121241,
+        0.7495061165784996
+      ],
+      "z_min": 0.7409977454038149,
+      "z_max": 0.7586218802128265
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.86255632013177,
+        8.756289843578967,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.6404078275098072,
+        0.0,
+        0.0,
+        0.7680350346593371
+      ],
+      "yaw_degrees_local": 169.64447379034095,
+      "yaw_radians": -1.7515343549300157,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.86255632013177,
+        8.756289843578967,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.3871314476126244,
+        8.292483410541726,
+        0.7758801489103074
+      ],
+      "rotation_wxyz": [
+        0.3958675847498539,
+        -0.00014257549183860298,
+        0.0004907667932606006,
+        0.918307461673105
+      ],
+      "yaw_degrees_local": 133.3010949501446,
+      "yaw_radians": 2.327567949930137,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3871314476126244,
+        8.292483410541726,
+        0.8109932232534928
+      ],
+      "z_min": 0.7409140459233765,
+      "z_max": 0.8111401946097473
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        3.588332779499839,
+        8.654529178257578,
+        0.7548503685818764
+      ],
+      "rotation_wxyz": [
+        0.9221375818915184,
+        -0.0004921385842416643,
+        -0.00013776585259389534,
+        -0.38686175681171575
+      ],
+      "yaw_degrees_local": -45.57745496286057,
+      "yaw_radians": -0.79445170938479,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.588332779499839,
+        8.654529178257578,
+        0.7689466702142822
+      ],
+      "z_min": 0.7405213442419143,
+      "z_max": 0.768713947506726
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.0176384917239636,
+        8.805177926520026,
+        0.745931018223598
+      ],
+      "rotation_wxyz": [
+        0.14036140513681494,
+        -8.456121955736283e-06,
+        0.0005109875832559754,
+        0.990100204407717
+      ],
+      "yaw_degrees_local": 163.80376798410958,
+      "yaw_radians": 2.8599398494719597,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0176384917239636,
+        8.805177926520026,
+        0.7512664589185988
+      ],
+      "z_min": 0.7405675554767879,
+      "z_max": 0.7512384368667895
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.642230942465788,
+        8.87081927911476,
+        0.8084752112104926
+      ],
+      "rotation_wxyz": [
+        0.8174509932434658,
+        -0.0003780526602633251,
+        0.0003438837046272118,
+        0.5759979274836456
+      ],
+      "yaw_degrees_local": 70.28039544404982,
+      "yaw_radians": 1.2276488795121174,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.642230942465788,
+        8.87081927911476,
+        0.8765305547640785
+      ],
+      "z_min": 0.7404218760881831,
+      "z_max": 0.8765325631953548
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.24223360960676052,
+        0.16745497491389888,
+        0.09493466547313689
+      ],
+      "bbox_min_m": [
+        -0.12108198546656723,
+        -0.08364467007205444,
+        -0.047378184785108
+      ],
+      "bbox_max_m": [
+        0.12115162414019334,
+        0.08381030484184444,
+        0.04755648068802887
+      ],
+      "translation_world": [
+        1.8473282218125726,
+        8.369181164578036,
+        0.7884095426559118
+      ],
+      "rotation_wxyz": [
+        0.6939913709206894,
+        -0.00039754542077030447,
+        -0.0003211502057680708,
+        -0.719983135849588
+      ],
+      "yaw_degrees_local": -92.1649021839403,
+      "yaw_radians": -1.607556262283361,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8473282218125726,
+        8.369181164578036,
+        0.8358768753924802
+      ],
+      "z_min": 0.7410313578708038,
+      "z_max": 0.8359660233439407
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.7432613717118306,
+        8.861687883999187,
+        0.786881858307172
+      ],
+      "rotation_wxyz": [
+        0.9979866985607159,
+        -0.0005101127662859936,
+        3.106093869096562e-05,
+        -0.0634215130382977
+      ],
+      "yaw_degrees_local": -7.331162308508539,
+      "yaw_radians": -0.1269282287765463,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7432613717118306,
+        8.861687883999187,
+        0.83346346157309
+      ],
+      "z_min": 0.740291624442472,
+      "z_max": 0.833454830974308
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.394106561120482,
+        8.659135928663009,
+        0.7865539039947528
+      ],
+      "rotation_wxyz": [
+        0.942045057421689,
+        -0.00045647286034068203,
+        0.00022980936450177304,
+        0.3354859886903633
+      ],
+      "yaw_degrees_local": 39.14548164577363,
+      "yaw_radians": 0.6842419712185066,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.394106561120482,
+        8.659135928663009,
+        0.8327523184956326
+      ],
+      "z_min": 0.740541297157136,
+      "z_max": 0.8329381261588957
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.777507515108326,
+        8.568221818201547,
+        0.8088916767192396
+      ],
+      "rotation_wxyz": [
+        0.7717834675851,
+        -0.0003511000365331348,
+        0.0003713604456410834,
+        0.6358852239064082
+      ],
+      "yaw_degrees_local": 78.9126435751636,
+      "yaw_radians": 1.378310106442628,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.777507515108326,
+        8.568221818201547,
+        0.8769470202728255
+      ],
+      "z_min": 0.74083834159693,
+      "z_max": 0.8769490287041017
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.997799208662894,
+        8.341984824866202,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        0.9940148464486039,
+        0.0,
+        0.0,
+        0.10924506872055428
+      ],
+      "yaw_degrees_local": -77.45640214009718,
+      "yaw_radians": 0.2189270827014187,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.997799208662894,
+        8.341984824866202,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.027249921791584,
+        8.700303237025116,
+        0.7463231414021979
+      ],
+      "rotation_wxyz": [
+        0.7616766712077223,
+        -0.000427306827233644,
+        -0.0002803367468596104,
+        -0.6479570875899942
+      ],
+      "yaw_degrees_local": -80.83422621666318,
+      "yaw_radians": -1.409798564598451,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.027249921791584,
+        8.700303237025116,
+        0.75197199261548
+      ],
+      "z_min": 0.740672705132411,
+      "z_max": 0.7519704075589753
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.1785255766463996,
+        8.322103845238882,
+        0.7880066891350918
+      ],
+      "rotation_wxyz": [
+        0.1731120121608921,
+        -2.539378577141051e-05,
+        0.000510426264885055,
+        0.9849020103877294
+      ],
+      "yaw_degrees_local": 160.00367181217956,
+      "yaw_radians": 2.7936156915156527,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1785255766463996,
+        8.322103845238882,
+        0.8351124398217242
+      ],
+      "z_min": 0.7409104408592772,
+      "z_max": 0.8351219422325421
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.5557262790359747,
+        8.838764121215515,
+        0.7434595419575168
+      ],
+      "rotation_wxyz": [
+        0.389979422806897,
+        -0.0001394301230247171,
+        0.0004916696625109433,
+        0.9208234296581421
+      ],
+      "yaw_degrees_local": 134.03484517384163,
+      "yaw_radians": 2.340374305864983,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5557262790359747,
+        8.838764121215515,
+        0.7464720584426763
+      ],
+      "z_min": 0.7403386126600514,
+      "z_max": 0.7463636456303702
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        1.777370631274215,
+        8.8296199323149,
+        0.8574128456460686
+      ],
+      "rotation_wxyz": [
+        0.9937775895234535,
+        -0.0004969043932145249,
+        0.00011943969291829858,
+        0.1113815127439844
+      ],
+      "yaw_degrees_local": 12.731210953599572,
+      "yaw_radians": 0.22322607176965226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.777370631274215,
+        8.8296199323149,
+        0.974271664322041
+      ],
+      "z_min": 0.740573266045804,
+      "z_max": 0.9742909033977488
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.0924519843974343,
+        8.848614026693138,
+        0.7447075911201179
+      ],
+      "rotation_wxyz": [
+        0.8478462550171966,
+        -0.000396365252068775,
+        0.00032260564656057874,
+        0.5302418944910886
+      ],
+      "yaw_degrees_local": 63.98489917960137,
+      "yaw_radians": 1.1177716927465722,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0924519843974343,
+        8.848614026693138,
+        0.7488441924802449
+      ],
+      "z_min": 0.7403873205676504,
+      "z_max": 0.7486605232879046
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.077371637623025,
+        8.253057792168022,
+        0.8112916712197439
+      ],
+      "rotation_wxyz": [
+        0.8967539697609505,
+        -0.0004267237840799585,
+        0.0002812234491303909,
+        0.44252915896939543
+      ],
+      "yaw_degrees_local": 52.47202318778568,
+      "yaw_radians": 0.9168340321703953,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.077371637623025,
+        8.253057792168022,
+        0.8814680374516628
+      ],
+      "z_min": 0.7411199990795238,
+      "z_max": 0.8814727315433615
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.4607299874182993,
+        8.864690434594781,
+        0.7797970374962231
+      ],
+      "rotation_wxyz": [
+        0.053533384814556315,
+        -9.040732814656418e-05,
+        -0.0005029973471676686,
+        -0.9985659294861209
+      ],
+      "yaw_degrees_local": -173.92130175296168,
+      "yaw_radians": -3.0344747814262667,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4607299874182993,
+        8.864690434594781,
+        0.8191458968220989
+      ],
+      "z_min": 0.7404510735382868,
+      "z_max": 0.8191487921900384
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        2.238260234953278,
+        8.294379281937198,
+        0.7553885336249002
+      ],
+      "rotation_wxyz": [
+        0.6252467167017484,
+        -0.00026763211270931894,
+        0.00043537669722558533,
+        0.7804269870230446
+      ],
+      "yaw_degrees_local": 102.54068140198387,
+      "yaw_radians": 1.7906973637447792,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.238260234953278,
+        8.294379281937198,
+        0.7695240165309422
+      ],
+      "z_min": 0.7410576755604366,
+      "z_max": 0.7693286413725204
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.422499184621015,
+        8.757634052191449,
+        0.7434772008830058
+      ],
+      "rotation_wxyz": [
+        0.8964089425505065,
+        -0.0004826619904490969,
+        -0.00016797981788306757,
+        -0.4432276464026884
+      ],
+      "yaw_degrees_local": -52.67871729796508,
+      "yaw_radians": -0.9183921113151842,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.422499184621015,
+        8.757634052191449,
+        0.7465892041268815
+      ],
+      "z_min": 0.7404377773661652,
+      "z_max": 0.7466617838539163
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.6364322927398898,
+        8.19303581896754,
+        0.7776388737810997
+      ],
+      "rotation_wxyz": [
+        0.1362422114040259,
+        -0.00013185042611345274,
+        -0.0004937562975537766,
+        -0.990675425480982
+      ],
+      "yaw_degrees_local": -164.39779419297676,
+      "yaw_radians": -2.8682582880505216,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6364322927398898,
+        8.19303581896754,
+        0.8142490868502784
+      ],
+      "z_min": 0.740983323056815,
+      "z_max": 0.8142037491951724
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        2.765400141410279,
+        8.273569831121877,
+        0.7463093083988185
+      ],
+      "rotation_wxyz": [
+        0.5402036751868248,
+        -0.0003272575493142546,
+        -0.00039253319943304265,
+        -0.8415341514964391
+      ],
+      "yaw_degrees_local": -114.66369086484751,
+      "yaw_radians": -2.000234397648517,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.765400141410279,
+        8.273569831121877,
+        0.7516589642984683
+      ],
+      "z_min": 0.7410119872395252,
+      "z_max": 0.7517112990388249
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        1.919963361027114,
+        8.61906650337025,
+        0.7438896193452758
+      ],
+      "rotation_wxyz": [
+        0.9815846489799849,
+        -0.0005098789023640563,
+        -3.468891990733876e-05,
+        -0.19102700255991012
+      ],
+      "yaw_degrees_local": -22.084163240501482,
+      "yaw_radians": -0.3844165411359635,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.919963361027114,
+        8.61906650337025,
+        0.7469021358304352
+      ],
+      "z_min": 0.7407686900478103,
+      "z_max": 0.7467937230181291
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.562011996049156,
+        8.284136026973803,
+        0.7444097659180083
+      ],
+      "rotation_wxyz": [
+        0.8926532159721708,
+        -0.00042412382431360234,
+        0.0002851294405878096,
+        0.4507438017707232
+      ],
+      "yaw_degrees_local": 53.52412817577516,
+      "yaw_radians": 0.9351967331345277,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.562011996049156,
+        8.284136026973803,
+        0.7479900453993334
+      ],
+      "z_min": 0.7409003381152561,
+      "z_max": 0.7480608970779062
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.1691229877407534,
+        8.86260606200842,
+        0.7471485407011096
+      ],
+      "rotation_wxyz": [
+        0.43409793703234245,
+        -0.0002772083121206308,
+        -0.00042934294908795643,
+        -0.9008655392923234
+      ],
+      "yaw_degrees_local": -128.60288702210005,
+      "yaw_radians": -2.2435193483800684,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1691229877407534,
+        8.86260606200842,
+        0.7537613449845973
+      ],
+      "z_min": 0.7404901174349533,
+      "z_max": 0.7537157260019288
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.6941142240945914,
+        8.383976875432216,
+        0.7886155671875598
+      ],
+      "rotation_wxyz": [
+        0.6183480886694719,
+        -0.0003633616393407577,
+        -0.00035937186213713185,
+        -0.785904179947527
+      ],
+      "yaw_degrees_local": -103.66749214035195,
+      "yaw_radians": -1.808314433660079,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6941142240945914,
+        8.383976875432216,
+        0.8360144926156602
+      ],
+      "z_min": 0.7410357640752601,
+      "z_max": 0.835833614931461
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.195110764773844,
+        8.613089157519104,
+        0.7459766537777768
+      ],
+      "rotation_wxyz": [
+        0.5091596060209848,
+        -0.00020367892347498466,
+        0.0004687160252993106,
+        0.8606719667891709
+      ],
+      "yaw_degrees_local": 118.72554528466884,
+      "yaw_radians": 2.0731766096921542,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.195110764773844,
+        8.613089157519104,
+        0.7513120944727776
+      ],
+      "z_min": 0.7406131910309667,
+      "z_max": 0.7512840724209683
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.3432989145310756,
+        8.52773029554173,
+        0.7522597203968582
+      ],
+      "rotation_wxyz": [
+        0.40430754219193227,
+        -0.00026297266733041303,
+        -0.00043820679191158195,
+        -0.914622955182573
+      ],
+      "yaw_degrees_local": -132.36322090431224,
+      "yaw_radians": -2.3091495692004305,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3432989145310756,
+        8.52773029554173,
+        0.7637724748203086
+      ],
+      "z_min": 0.740680992377407,
+      "z_max": 0.7637065012243078
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        2.0760358375981705,
+        8.404818042118155,
+        0.8196758227206182
+      ],
+      "rotation_wxyz": [
+        0.9985407498525006,
+        -0.0005097969409131159,
+        3.587332262199215e-05,
+        -0.054001015769982716
+      ],
+      "yaw_degrees_local": -6.2497832786775405,
+      "yaw_radians": -0.10805461410129923,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0760358375981705,
+        8.404818042118155,
+        0.8983864855452401
+      ],
+      "z_min": 0.7409662526579931,
+      "z_max": 0.898387578307237
+    }
+  ],
+  "variant_index": 31
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0032/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0032/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..4f14a71e14a5da233ed1e0067af7c9ac1fbea036
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0032/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2431778194978397806
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.42337193, -0.000272091455, -0.00043260381, -0.90595582)
+            double3 xformOp:translate = (2.14015370429, 8.26547022785, 0.741099418775)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.461352468, -0.000177753532, 0.000479148722, 0.887216794)
+            double3 xformOp:translate = (3.25063493561, 8.34881437568, 0.740570492854)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.106953232, -0.000117224851, -0.000497431554, -0.994263921)
+            double3 xformOp:translate = (3.40633764267, 8.63989634326, 0.88219417406)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.686633983, -0.000302147007, 0.00041217351, 0.727003104)
+            double3 xformOp:translate = (3.63926203969, 8.82442440796, 0.775308692006)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985782178, -0.000489261239, 0.000147659258, 0.16802749)
+            double3 xformOp:translate = (2.30781017197, 8.27020111492, 0.749240533929)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.87566616, -0.000474657316, -0.000189420824, -0.482916676)
+            double3 xformOp:translate = (1.8238751364, 8.68428930829, 0.840934250751)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.473452744, -0.000184295074, 0.000476670895, 0.880819072)
+            double3 xformOp:translate = (3.13306876405, 8.86149543932, 0.779726201449)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993253673, -0.000496348614, 0.000121728671, 0.11596068)
+            double3 xformOp:translate = (3.49428340693, 8.75485590456, 0.754762363874)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0408986604, 4.25571667e-05, 0.000509282538, 0.999163169)
+            double3 xformOp:translate = (2.97180471965, 8.25199777916, 0.817157278115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.617747358, -0.000263452166, 0.000437918682, 0.786376462)
+            double3 xformOp:translate = (1.727232478, 8.41191966578, 0.800001664284)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.724335909, -0.000410999142, -0.000303742525, -0.689447046)
+            double3 xformOp:translate = (2.02418862096, 8.74289375706, 0.75407564027)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.735792693, 0, 0, -0.677206847)
+            double3 xformOp:translate = (4.98778451277, 8.49431894492, 0.976359949066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994956178, -0.000510912798, 1.21626035e-05, -0.10030923)
+            double3 xformOp:translate = (2.9245055257, 8.87400261114, 0.835256393257)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.588482263, -0.000349648291, -0.000372727633, -0.808509966)
+            double3 xformOp:translate = (3.6422842723, 8.27590674445, 0.746627016367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.177136295, -0.000152177372, -0.000487874844, -0.984186198)
+            double3 xformOp:translate = (2.20499332688, 8.90555878344, 0.805746352707)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.4918171, 0, 0, 0.870698536)
+            double3 xformOp:translate = (4.96966712715, 8.08182246541, 0.992972247698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.283438437, -0.000204488711, -0.000468363303, -0.958990298)
+            double3 xformOp:translate = (3.58792660401, 8.43468317679, 0.806048710704)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.3564985, -0.000239974222, -0.000451211912, -0.934295755)
+            double3 xformOp:translate = (1.8860789974, 8.38397335414, 0.74533169345)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.682886123, 0, 0, 0.730524841)
+            double3 xformOp:translate = (4.962209039, 8.80169681061, 1.06183489214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.171240302, -2.44238865e-05, 0.000510473594, 0.98522916)
+            double3 xformOp:translate = (1.74498644902, 8.79117703211, 0.818576140641)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.369787149, -0.000128664937, 0.000494595946, 0.929116356)
+            double3 xformOp:translate = (1.78983526762, 8.2666195393, 0.827529941012)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0254034553, 5.04475934e-05, 0.000508561556, 0.99967715)
+            double3 xformOp:translate = (1.91778135939, 8.54087338145, 0.775099328486)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981334574, -0.000509833209, -3.53541459e-05, -0.192307545)
+            double3 xformOp:translate = (2.01863150924, 8.3141807953, 0.797225361454)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989609435, -0.000492738146, 0.000135605809, 0.143780751)
+            double3 xformOp:translate = (2.62134641731, 8.87039615121, 0.794334977923)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988303803, -0.000491523861, 0.000139943239, 0.152496988)
+            double3 xformOp:translate = (3.42011070492, 8.56076322646, 0.788217579094)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.217870243, -4.86567645e-05, 0.000508736018, 0.97597761)
+            double3 xformOp:translate = (3.18803293216, 8.55245979032, 0.749709491552)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.104692311, -0.000116093544, -0.000497696801, -0.994504529)
+            double3 xformOp:translate = (3.71651144988, 8.39294017758, 0.786982433953)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.543093962, -0.000222217951, 0.000460216252, 0.839671773)
+            double3 xformOp:translate = (1.91550006476, 8.75509816417, 0.777286856106)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858769544, -0.000467954137, -0.000205423324, -0.512361795)
+            double3 xformOp:translate = (3.51575526528, 8.5817799701, 0.840861374846)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.654204718, -0.000379670766, -0.000342096369, -0.756317344)
+            double3 xformOp:translate = (2.72495129301, 8.30924114163, 0.794890992536)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0032/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0032/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..51590e0b7fa261347941e807c7cb7f4e58e3ce00
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0032/placement.json
@@ -0,0 +1,1545 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2431778194978397806,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 3,
+    "book": 2,
+    "small object": 7,
+    "clock": 3,
+    "stationery": 1,
+    "office_supply": 2,
+    "electronics": 4,
+    "small prop": 2,
+    "small_electronics": 2,
+    "paper goods": 1,
+    "decorative_object": 1,
+    "small electronic device": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 201,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.1401537042906744,
+        8.265470227845874,
+        0.7410994187748029
+      ],
+      "rotation_wxyz": [
+        0.42337193048866906,
+        -0.00027209145508843695,
+        -0.0004326038098632162,
+        -0.9059558197254884
+      ],
+      "yaw_degrees_local": -129.96339271666332,
+      "yaw_radians": -2.2672646576387887,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1401537042906744,
+        8.265470227845874,
+        0.7910995126521184
+      ],
+      "z_min": 0.7410994187748029,
+      "z_max": 0.8410996065294339
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.250634935613085,
+        8.348814375683384,
+        0.7405704928536003
+      ],
+      "rotation_wxyz": [
+        0.46135246815316394,
+        -0.0001777535318264855,
+        0.00047914872238536045,
+        0.8872167936582174
+      ],
+      "yaw_degrees_local": 124.99245322424673,
+      "yaw_radians": 2.182554798937703,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.250634935613085,
+        8.348814375683384,
+        0.7493825602581061
+      ],
+      "z_min": 0.7408741890834214,
+      "z_max": 0.758498323892433
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.4063376426744205,
+        8.639896343257638,
+        0.8821941740603501
+      ],
+      "rotation_wxyz": [
+        0.10695323221070088,
+        -0.00011722485057535853,
+        -0.000497431553731664,
+        -0.9942639211697605
+      ],
+      "yaw_degrees_local": -167.77928415241092,
+      "yaw_radians": -2.9272763986343864,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4063376426744205,
+        8.639896343257638,
+        1.0237549612561014
+      ],
+      "z_min": 0.7405593108212295,
+      "z_max": 1.0236808852127324
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.639262039694197,
+        8.82442440796372,
+        0.7753086920057483
+      ],
+      "rotation_wxyz": [
+        0.6866339827670028,
+        -0.0003021470069053237,
+        0.000412173510136771,
+        0.7270031035213723
+      ],
+      "yaw_degrees_local": 93.212782424897,
+      "yaw_radians": 1.6278947410610736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.639262039694197,
+        8.82442440796372,
+        0.8104217663489336
+      ],
+      "z_min": 0.7403425890188173,
+      "z_max": 0.8105687377051881
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        2.307810171966132,
+        8.27020111492082,
+        0.7492405339289598
+      ],
+      "rotation_wxyz": [
+        0.9857821775260078,
+        -0.0004892612387779582,
+        0.00014765925798868973,
+        0.16802748969221215
+      ],
+      "yaw_degrees_local": 19.287597927601155,
+      "yaw_radians": 0.3376565703526064,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.307810171966132,
+        8.27020111492082,
+        0.7574765406811006
+      ],
+      "z_min": 0.7410733825607968,
+      "z_max": 0.7575453960650782
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        1.8238751364048782,
+        8.684289308287294,
+        0.8409342507506716
+      ],
+      "rotation_wxyz": [
+        0.8756661597171181,
+        -0.00047465731587283664,
+        -0.00018942082443254959,
+        -0.4829166755729797
+      ],
+      "yaw_degrees_local": -57.810855871576635,
+      "yaw_radians": -1.0079648320836265,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8238751364048782,
+        8.684289308287294,
+        0.9410229518426847
+      ],
+      "z_min": 0.7407147641864763,
+      "z_max": 0.9408921663705023
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.133068764050031,
+        8.861495439318846,
+        0.7797262014492173
+      ],
+      "rotation_wxyz": [
+        0.4734527442793967,
+        -0.00018429507406465888,
+        0.00047667089476473653,
+        0.8808190720882991
+      ],
+      "yaw_degrees_local": 123.42396936646833,
+      "yaw_radians": 2.155179589556949,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.133068764050031,
+        8.861495439318846,
+        0.8189662762891086
+      ],
+      "z_min": 0.7403691279348068,
+      "z_max": 0.8188492776145893
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.49428340692881,
+        8.754855904561449,
+        0.7547623638741467
+      ],
+      "rotation_wxyz": [
+        0.9932536732810425,
+        -0.000496348614185472,
+        0.00012172867138219358,
+        0.11596068012003036
+      ],
+      "yaw_degrees_local": 13.259368722993031,
+      "yaw_radians": 0.2324441601459236,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.49428340692881,
+        8.754855904561449,
+        0.7688978467801887
+      ],
+      "z_min": 0.7404315058096831,
+      "z_max": 0.768702471621767
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.9718047196452324,
+        8.251997779160911,
+        0.8171572781149882
+      ],
+      "rotation_wxyz": [
+        0.040898660406410985,
+        4.2557166686081895e-05,
+        0.0005092825382869175,
+        0.9991631690555578
+      ],
+      "yaw_degrees_local": 175.2533401678943,
+      "yaw_radians": 3.0597724790164373,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9718047196452324,
+        8.251997779160911,
+        0.8933432166370743
+      ],
+      "z_min": 0.7410077516277859,
+      "z_max": 0.8933796286719582
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        1.7272324780011103,
+        8.41191966578119,
+        0.8000016642836256
+      ],
+      "rotation_wxyz": [
+        0.6177473584603429,
+        -0.00026345216601135105,
+        0.00043791868247911064,
+        0.7863764619668194
+      ],
+      "yaw_degrees_local": 103.63763659523704,
+      "yaw_radians": 1.8098428512139155,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7272324780011103,
+        8.41191966578119,
+        0.8591279423161458
+      ],
+      "z_min": 0.7410032334429195,
+      "z_max": 0.8592557895079598
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        2.024188620956571,
+        8.742893757061,
+        0.754075640269609
+      ],
+      "rotation_wxyz": [
+        0.7243359090109279,
+        -0.00041099914235023907,
+        -0.00030374252456263104,
+        -0.6894470463621529
+      ],
+      "yaw_degrees_local": -87.23143210602925,
+      "yaw_radians": -1.5214509224758803,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.024188620956571,
+        8.742893757061,
+        0.7676203896422062
+      ],
+      "z_min": 0.7406299003987392,
+      "z_max": 0.7677193991439337
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        4.9877845127677185,
+        8.494318944918945,
+        0.976359949066296
+      ],
+      "rotation_wxyz": [
+        0.7357926929163461,
+        0.0,
+        0.0,
+        -0.6772068465771088
+      ],
+      "yaw_degrees_local": -175.25151975243816,
+      "yaw_radians": -1.4879197120090273,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9877845127677185,
+        8.494318944918945,
+        1.0325422288761885
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.032564588516117
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.924505525698795,
+        8.874002611141451,
+        0.8352563932566411
+      ],
+      "rotation_wxyz": [
+        0.9949561784869287,
+        -0.0005109127981525424,
+        1.216260351454909e-05,
+        -0.10030923043703825
+      ],
+      "yaw_degrees_local": -11.572667153138951,
+      "yaw_radians": -0.20095641504208134,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.924505525698795,
+        8.874002611141451,
+        0.9301532393208447
+      ],
+      "z_min": 0.7403828969542264,
+      "z_max": 0.9301765890826337
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.6422842723033266,
+        8.27590674445112,
+        0.7466270163674072
+      ],
+      "rotation_wxyz": [
+        0.5884822629639566,
+        -0.00034964829141068376,
+        -0.0003727276332040625,
+        -0.80850996592312
+      ],
+      "yaw_degrees_local": -107.95994194411693,
+      "yaw_radians": -1.883231853047229,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6422842723033266,
+        8.27590674445112,
+        0.7522541432576261
+      ],
+      "z_min": 0.7408985150902027,
+      "z_max": 0.7521527688706403
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.2049933268791895,
+        8.905558783438929,
+        0.8057463527073782
+      ],
+      "rotation_wxyz": [
+        0.17713629467881506,
+        -0.00015217737215595704,
+        -0.0004878748442418608,
+        -0.9841861977937122
+      ],
+      "yaw_degrees_local": -159.6527051363954,
+      "yaw_radians": -2.7854408883098514,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2049933268791895,
+        8.905558783438929,
+        0.8711020770690197
+      ],
+      "z_min": 0.7404420392248756,
+      "z_max": 0.8711534879481586
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        4.969667127147851,
+        8.0818224654065,
+        0.9929722476982082
+      ],
+      "rotation_wxyz": [
+        0.4918170998019141,
+        0.0,
+        0.0,
+        0.8706985358563745
+      ],
+      "yaw_degrees_local": 31.0798312049821,
+      "yaw_radians": 2.113241712285911,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.969667127147851,
+        8.0818224654065,
+        1.065834692304952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0659249181098192
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.587926604011125,
+        8.43468317679046,
+        0.806048710703509
+      ],
+      "rotation_wxyz": [
+        0.2834384365058476,
+        -0.00020448871050472123,
+        -0.00046836330291391207,
+        -0.9589902979338762
+      ],
+      "yaw_degrees_local": -147.12764796873526,
+      "yaw_radians": -2.5668374449416587,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.587926604011125,
+        8.43468317679046,
+        0.8714044350651505
+      ],
+      "z_min": 0.7407443972210065,
+      "z_max": 0.8714558459442895
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.8860789973979166,
+        8.383973354142892,
+        0.745331693450229
+      ],
+      "rotation_wxyz": [
+        0.3564985001585423,
+        -0.00023997422183989257,
+        -0.00045121191151459045,
+        -0.9342957552107864
+      ],
+      "yaw_degrees_local": -138.2880807613759,
+      "yaw_radians": -2.4125578942026054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8860789973979166,
+        8.383973354142892,
+        0.749468294810356
+      ],
+      "z_min": 0.7410114228977616,
+      "z_max": 0.7492846256180157
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        4.96220903899903,
+        8.801696810612532,
+        1.0618348921354523
+      ],
+      "rotation_wxyz": [
+        -0.6828861233017917,
+        0.0,
+        0.0,
+        0.7305248405097874
+      ],
+      "yaw_degrees_local": 176.13917730946798,
+      "yaw_radians": -1.6381803945803866,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.96220903899903,
+        8.801696810612532,
+        1.2033956793312037
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2033216032878347
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.7449864490202336,
+        8.79117703210899,
+        0.8185761406408826
+      ],
+      "rotation_wxyz": [
+        0.1712403017668955,
+        -2.4423886454322225e-05,
+        0.0005104735938427951,
+        0.9852291600795048
+      ],
+      "yaw_degrees_local": 160.2214056877503,
+      "yaw_radians": 2.7974158627445616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7449864490202336,
+        8.79117703210899,
+        0.8965696651113808
+      ],
+      "z_min": 0.7406163388751228,
+      "z_max": 0.8966033878161193
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        1.7898352676190261,
+        8.266619539303584,
+        0.8275299410121698
+      ],
+      "rotation_wxyz": [
+        0.3697871488409166,
+        -0.00012866493729835185,
+        0.0004945959463545206,
+        0.9291163562074934
+      ],
+      "yaw_degrees_local": 136.53630201857158,
+      "yaw_radians": 2.384032958028368,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7898352676190261,
+        8.266619539303584,
+        0.9139292199704365
+      ],
+      "z_min": 0.7411426839698089,
+      "z_max": 0.9139412418863422
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.917781359387254,
+        8.540873381445731,
+        0.7750993284861631
+      ],
+      "rotation_wxyz": [
+        0.02540345534792261,
+        5.0447593358432985e-05,
+        0.0005085615563180674,
+        0.9996771495220694
+      ],
+      "yaw_degrees_local": 177.02995445892162,
+      "yaw_radians": 3.0907802318469346,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.917781359387254,
+        8.540873381445731,
+        0.809304848198665
+      ],
+      "z_min": 0.7408482887512896,
+      "z_max": 0.8092593281762933
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.018631509243207,
+        8.314180795303644,
+        0.7972253614538316
+      ],
+      "rotation_wxyz": [
+        0.9813345743651035,
+        -0.000509833208614796,
+        -3.5354145921723734e-05,
+        -0.19230754529098745
+      ],
+      "yaw_degrees_local": -22.233674606422255,
+      "yaw_radians": -0.38702600555948796,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.018631509243207,
+        8.314180795303644,
+        0.8534076412637243
+      ],
+      "z_min": 0.7410654412838674,
+      "z_max": 0.8534300009036527
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.621346417313428,
+        8.870396151210487,
+        0.7943349779227876
+      ],
+      "rotation_wxyz": [
+        0.9896094352757463,
+        -0.0004927381463130976,
+        0.00013560580890302967,
+        0.1437807512617822
+      ],
+      "yaw_degrees_local": 16.474654896887614,
+      "yaw_radians": 0.2885614692319752,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.621346417313428,
+        8.870396151210487,
+        0.8482551802161858
+      ],
+      "z_min": 0.7404249439429613,
+      "z_max": 0.8482653485297578
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.42011070491906,
+        8.560763226461562,
+        0.7882175790938697
+      ],
+      "rotation_wxyz": [
+        0.988303803246259,
+        -0.0004915238611502011,
+        0.00013994323906609576,
+        0.15249698786915017
+      ],
+      "yaw_degrees_local": 17.48460887947371,
+      "yaw_radians": 0.30618848539900856,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.42011070491906,
+        8.560763226461562,
+        0.8356165045219701
+      ],
+      "z_min": 0.74063777598157,
+      "z_max": 0.835435626837771
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.188032932163794,
+        8.552459790320457,
+        0.7497094915524889
+      ],
+      "rotation_wxyz": [
+        0.21787024327398438,
+        -4.865676453580359e-05,
+        0.0005087360175034002,
+        0.9759776103558518
+      ],
+      "yaw_degrees_local": 154.77334051377068,
+      "yaw_radians": 2.7023292302630764,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.188032932163794,
+        8.552459790320457,
+        0.7585427376559711
+      ],
+      "z_min": 0.7406755819726896,
+      "z_max": 0.758342074179654
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.716511449875664,
+        8.392940177575094,
+        0.7869824339531238
+      ],
+      "rotation_wxyz": [
+        0.10469231137200605,
+        -0.00011609354419689729,
+        -0.0004976968005082167,
+        -0.994504529280672
+      ],
+      "yaw_degrees_local": -168.0398296493672,
+      "yaw_radians": -2.931823773549568,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.716511449875664,
+        8.392940177575094,
+        0.8331750338592063
+      ],
+      "z_min": 0.740770432496893,
+      "z_max": 0.8331556323090579
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        1.9155000647633766,
+        8.7550981641697,
+        0.7772868561063493
+      ],
+      "rotation_wxyz": [
+        0.5430939624953833,
+        -0.0002222179507882975,
+        0.00046021625198135104,
+        0.8396717732073928
+      ],
+      "yaw_degrees_local": 114.15226451211271,
+      "yaw_radians": 1.9933577864774594,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9155000647633766,
+        8.7550981641697,
+        0.813897069175528
+      ],
+      "z_min": 0.7406313053820646,
+      "z_max": 0.8138517315204219
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.5157552652820696,
+        8.581779970103375,
+        0.840861374845682
+      ],
+      "rotation_wxyz": [
+        0.8587695439309572,
+        -0.0004679541367412718,
+        -0.00020542332425273357,
+        -0.5123617952548765
+      ],
+      "yaw_degrees_local": -61.70127171386855,
+      "yaw_radians": -1.0758654070678246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5157552652820696,
+        8.581779970103375,
+        0.9410782549083321
+      ],
+      "z_min": 0.7406043693674035,
+      "z_max": 0.9410381294927035
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.7249512930085737,
+        8.309241141628057,
+        0.7948909925361709
+      ],
+      "rotation_wxyz": [
+        0.6542047184027197,
+        -0.00037967076628988883,
+        -0.0003420963686816351,
+        -0.7563173442674723
+      ],
+      "yaw_degrees_local": -98.33994753997787,
+      "yaw_radians": -1.7153311912674893,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7249512930085737,
+        8.309241141628057,
+        0.8488111948295691
+      ],
+      "z_min": 0.7409809585563447,
+      "z_max": 0.848821363143141
+    }
+  ],
+  "variant_index": 32
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0034/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0034/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..9ae38baa9e3e3a865457b3f32fd736c50ebd8c81
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0034/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3177225060298511849
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.684693529, -0.000393390849, -0.000326226082, -0.72883092)
+            double3 xformOp:translate = (3.63188545818, 8.8887575399, 0.740278253648)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999505664, -0.000504873838, 7.92604793e-05, 0.0314351223)
+            double3 xformOp:translate = (2.10863039323, 8.39202443496, 0.740975057465)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.948386276, -0.00050103135, -0.000100734319, -0.317117028)
+            double3 xformOp:translate = (2.52957988913, 8.87905891726, 0.821617487553)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991932427, -0.000494994022, 0.000127124879, 0.126766708)
+            double3 xformOp:translate = (3.26172147218, 8.45316274932, 0.813539207902)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.533662685, -0.000324204245, -0.00039505876, -0.845697273)
+            double3 xformOp:translate = (1.75093785554, 8.55588403225, 0.740854185834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.940599142, -0.000455484135, 0.000231762851, 0.339518767)
+            double3 xformOp:translate = (3.41951868897, 8.30309544768, 0.745981376841)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.706502368, -0.000313444779, 0.000403648593, 0.707710494)
+            double3 xformOp:translate = (3.01968411375, 8.18096951032, 0.752093737351)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.437618031, -0.000278885414, -0.000428255464, -0.89916083)
+            double3 xformOp:translate = (1.83560488342, 8.7700691013, 0.757403807912)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998314338, -0.000502584494, 9.26749297e-05, 0.0580363786)
+            double3 xformOp:translate = (2.52153394337, 8.34020055044, 0.793653254983)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.10069434, -0.000114092257, -0.000498159385, -0.994917277)
+            double3 xformOp:translate = (2.24675900677, 8.28619710648, 0.746715329118)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.90629635, -0.000432822709, 0.000271743111, 0.422642479)
+            double3 xformOp:translate = (3.0916542091, 8.88675924741, 0.766947977747)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.898885075, -0.000428079759, 0.000279155039, 0.438184163)
+            double3 xformOp:translate = (1.79515969521, 8.39540018178, 0.75259008483)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.957356047, -0.000467187905, 0.000207160028, 0.288910259)
+            double3 xformOp:translate = (3.70885869088, 8.38557399962, 0.793456800395)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.802058501, -0.000444572476, -0.000252061758, -0.597245259)
+            double3 xformOp:translate = (1.82982417814, 8.24847617828, 0.746453297712)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.327403308, 0, 0, 0.944884688)
+            double3 xformOp:translate = (4.95477022544, 8.09390750107, 0.927896217619)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.614383458, -0.000261579606, 0.000439039777, 0.789007418)
+            double3 xformOp:translate = (3.47560502382, 8.8414144929, 0.752146641434)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.313206912, -0.000218995269, -0.000461758474, -0.949684774)
+            double3 xformOp:translate = (3.43032666069, 8.62721022968, 0.770477209784)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858122077, -0.000467694446, -0.000206013885, -0.51344546)
+            double3 xformOp:translate = (1.93853611273, 8.49788504305, 0.780246335438)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.824448479, -0.000453943382, -0.000234766314, -0.565936784)
+            double3 xformOp:translate = (3.64908397221, 8.21694149746, 0.787547713221)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698731796, -0.000309018106, 0.00040704745, 0.715383545)
+            double3 xformOp:translate = (2.98804081314, 8.34520842741, 0.771503134194)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.81247614, 0, 0, -0.582994444)
+            double3 xformOp:translate = (4.99727911122, 8.34634995382, 0.992972247698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.832141604, -0.00038686042, 0.000333944354, 0.554562971)
+            double3 xformOp:translate = (2.05612280797, 8.6303293245, 0.746027227663)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.722373097, -0.000410134035, -0.000304909641, -0.691503325)
+            double3 xformOp:translate = (2.63108603555, 8.20693030533, 0.817246156436)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.943288593, -0.000457325998, 0.000228106877, 0.331973447)
+            double3 xformOp:translate = (3.73061332818, 8.69129817409, 0.787889091699)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908446791, -0.000434207323, 0.000269525169, 0.418000199)
+            double3 xformOp:translate = (3.19012423501, 8.54579318557, 0.77564819502)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.780653222, -0.000435473529, -0.000267474526, -0.624964227)
+            double3 xformOp:translate = (2.80743708896, 8.23682824495, 0.788367002477)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0565144581, -9.19086708e-05, -0.000502725186, -0.99840165)
+            double3 xformOp:translate = (2.0531159487, 8.26897351214, 0.746404217339)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998706485, -0.000503239009, 8.90523227e-05, 0.0508438427)
+            double3 xformOp:translate = (1.69300731925, 8.31334917462, 0.882742449578)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.599277457, -0.000253188438, 0.000443931786, 0.800541234)
+            double3 xformOp:translate = (3.13489639996, 8.24061777597, 0.818366147698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.761453311, -0.000345080063, 0.000376960961, 0.648219556)
+            double3 xformOp:translate = (2.75729568632, 8.87176970075, 0.801080820256)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0034/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0034/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9118e769b7a38bb03ce3027bf0430fdecf28155
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0034/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3177225060298511849,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "clock": 3,
+    "small object": 6,
+    "electronics": 7,
+    "book": 3,
+    "writing_instrument": 1,
+    "office_supply": 1,
+    "office_supplies": 1,
+    "paper_goods": 1
+  },
+  "failed_sampling_attempt_count": 138,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.6318854581765714,
+        8.888757539895488,
+        0.7402782536476575
+      ],
+      "rotation_wxyz": [
+        0.6846935293588461,
+        -0.00039339084887994347,
+        -0.0003262260815107064,
+        -0.7288309198122092
+      ],
+      "yaw_degrees_local": -93.63567689024693,
+      "yaw_radians": -1.6332261367216085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6318854581765714,
+        8.888757539895488,
+        0.7627752653614406
+      ],
+      "z_min": 0.7402782566425921,
+      "z_max": 0.7852722800701581
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.108630393226252,
+        8.392024434959863,
+        0.7409750574645966
+      ],
+      "rotation_wxyz": [
+        0.9995056637685252,
+        -0.0005048738383603763,
+        7.926047930446349e-05,
+        0.031435122312849846
+      ],
+      "yaw_degrees_local": 3.544083251774623,
+      "yaw_radians": 0.06288051633193678,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.108630393226252,
+        8.392024434959863,
+        0.7909751513419121
+      ],
+      "z_min": 0.7409750574645966,
+      "z_max": 0.8409752452192276
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.529579889131755,
+        8.879058917255943,
+        0.8216174875525147
+      ],
+      "rotation_wxyz": [
+        0.9483862763095331,
+        -0.0005010313495517036,
+        -0.00010073431891223146,
+        -0.3171170284420594
+      ],
+      "yaw_degrees_local": -37.03604397620819,
+      "yaw_radians": -0.6453759936447581,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.529579889131755,
+        8.879058917255943,
+        0.9028613408458797
+      ],
+      "z_min": 0.7404277990586281,
+      "z_max": 0.902915505645358
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.261721472183006,
+        8.453162749322553,
+        0.8135392079024193
+      ],
+      "rotation_wxyz": [
+        0.9919324274309486,
+        -0.0004949940215982514,
+        0.00012712487884872264,
+        0.1267667078973415
+      ],
+      "yaw_degrees_local": 14.506876288793165,
+      "yaw_radians": 0.2542172661778873,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.261721472183006,
+        8.453162749322553,
+        0.886401652509163
+      ],
+      "z_min": 0.7407669891005428,
+      "z_max": 0.8864918783140302
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.750937855543508,
+        8.555884032254745,
+        0.7408541858337372
+      ],
+      "rotation_wxyz": [
+        0.5336626852111541,
+        -0.00032420424492635185,
+        -0.0003950587599485002,
+        -0.8456972728071225
+      ],
+      "yaw_degrees_local": -115.55217417911203,
+      "yaw_radians": -2.0157413633962666,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.750937855543508,
+        8.555884032254745,
+        0.7908542797110527
+      ],
+      "z_min": 0.7408541858337372,
+      "z_max": 0.8408543735883682
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        3.419518688972358,
+        8.303095447676617,
+        0.7459813768409984
+      ],
+      "rotation_wxyz": [
+        0.9405991417172825,
+        -0.0004554841346914941,
+        0.0002317628513904967,
+        0.33951876740600856
+      ],
+      "yaw_degrees_local": 39.63640998329794,
+      "yaw_radians": 0.6928102873448596,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.419518688972358,
+        8.303095447676617,
+        0.7511109795370764
+      ],
+      "z_min": 0.7408991637439334,
+      "z_max": 0.7511583691360892
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        3.0196841137513926,
+        8.180969510317519,
+        0.7520937373506478
+      ],
+      "rotation_wxyz": [
+        0.7065023680298936,
+        -0.0003134447794223908,
+        0.00040364859282940833,
+        0.707710493625986
+      ],
+      "yaw_degrees_local": 90.03918217217813,
+      "yaw_radians": 1.5725049399457038,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0196841137513926,
+        8.180969510317519,
+        0.762973157553784
+      ],
+      "z_min": 0.7410736903896432,
+      "z_max": 0.7628325307959157
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.835604883422847,
+        8.77006910130375,
+        0.7574038079120837
+      ],
+      "rotation_wxyz": [
+        0.4376180312781864,
+        -0.00027888541379554843,
+        -0.0004282554637274326,
+        -0.8991608296185885
+      ],
+      "yaw_degrees_local": -128.15470183957933,
+      "yaw_radians": -2.2356970393933193,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.835604883422847,
+        8.77006910130375,
+        0.7743548231044892
+      ],
+      "z_min": 0.7406262338014314,
+      "z_max": 0.7745282641862423
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.52153394337442,
+        8.340200550443598,
+        0.7936532549825799
+      ],
+      "rotation_wxyz": [
+        0.998314338064178,
+        -0.000502584494041645,
+        9.267492966933538e-05,
+        0.058036378554024895
+      ],
+      "yaw_degrees_local": 6.595508600302395,
+      "yaw_radians": 0.1161379102395079,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.52153394337442,
+        8.340200550443598,
+        0.846202283841798
+      ],
+      "z_min": 0.7409753310902373,
+      "z_max": 0.8460733888086736
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.246759006769157,
+        8.286197106484236,
+        0.7467153291176332
+      ],
+      "rotation_wxyz": [
+        0.10069433974022018,
+        -0.00011409225680425096,
+        -0.0004981593853152076,
+        -0.9949172773474512
+      ],
+      "yaw_degrees_local": -168.50039882979087,
+      "yaw_radians": -2.9398622188642114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.246759006769157,
+        8.286197106484236,
+        0.7523641803309152
+      ],
+      "z_min": 0.7410648928478463,
+      "z_max": 0.7523625952744105
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.0916542091022254,
+        8.886759247405921,
+        0.7669479777467164
+      ],
+      "rotation_wxyz": [
+        0.9062963498180255,
+        -0.0004328227092497498,
+        0.00027174311140858604,
+        0.4226424790845179
+      ],
+      "yaw_degrees_local": 49.944358565938444,
+      "yaw_radians": 0.87271795175504,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0916542091022254,
+        8.886759247405921,
+        0.7935224624027905
+      ],
+      "z_min": 0.7403487451740507,
+      "z_max": 0.7934977144861987
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        1.795159695214255,
+        8.39540018178116,
+        0.752590084829918
+      ],
+      "rotation_wxyz": [
+        0.8988850749959247,
+        -0.0004280797594011591,
+        0.0002791550390577937,
+        0.4381841630750189
+      ],
+      "yaw_degrees_local": 51.91745863519279,
+      "yaw_radians": 0.9071550523811374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.795159695214255,
+        8.39540018178116,
+        0.7641028392533684
+      ],
+      "z_min": 0.7410113568104668,
+      "z_max": 0.7640368656573676
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.7088586908839325,
+        8.38557399961546,
+        0.7934568003946236
+      ],
+      "rotation_wxyz": [
+        0.9573560472102246,
+        -0.00046718790537277766,
+        0.00020716002827212882,
+        0.2889102588870778
+      ],
+      "yaw_degrees_local": 33.526746217303526,
+      "yaw_radians": 0.5861765408422525,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7088586908839325,
+        8.38557399961546,
+        0.8460058292538417
+      ],
+      "z_min": 0.740778876502281,
+      "z_max": 0.8458769342207173
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        1.8298241781397815,
+        8.248476178282345,
+        0.7464532977117572
+      ],
+      "rotation_wxyz": [
+        0.8020585014397122,
+        -0.0004445724757587496,
+        -0.0002520617583808552,
+        -0.5972452587408855
+      ],
+      "yaw_degrees_local": -73.40443667276138,
+      "yaw_radians": -1.280124222674287,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8298241781397815,
+        8.248476178282345,
+        0.751802953611407
+      ],
+      "z_min": 0.7411559765524639,
+      "z_max": 0.7518552883517636
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        4.954770225440594,
+        8.093907501066552,
+        0.9278962176185521
+      ],
+      "rotation_wxyz": [
+        0.32740330780203697,
+        0.0,
+        0.0,
+        0.944884688224063
+      ],
+      "yaw_degrees_local": 51.777515178050976,
+      "yaw_radians": 2.4744844451532244,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.954770225440594,
+        8.093907501066552,
+        0.9357511239623527
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.935909841583933
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.475605023817763,
+        8.841414492900856,
+        0.7521466414339523
+      ],
+      "rotation_wxyz": [
+        0.6143834581888534,
+        -0.0002615796060349016,
+        0.0004390397771807679,
+        0.789007417661006
+      ],
+      "yaw_degrees_local": 104.12700810100512,
+      "yaw_radians": 1.8183839985641097,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.475605023817763,
+        8.841414492900856,
+        0.764017911980522
+      ],
+      "z_min": 0.7403460805545029,
+      "z_max": 0.7640886216476424
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        3.43032666069407,
+        8.627210229675908,
+        0.7704772097844266
+      ],
+      "rotation_wxyz": [
+        0.31320691210982293,
+        -0.00021899526944478342,
+        -0.00046175847388122646,
+        -0.9496847735047739
+      ],
+      "yaw_degrees_local": -143.5535042810444,
+      "yaw_radians": -2.5044568732381087,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.43032666069407,
+        8.627210229675908,
+        0.8003608474020756
+      ],
+      "z_min": 0.7405690796888034,
+      "z_max": 0.8003363549241013
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        1.9385361127282144,
+        8.497885043045187,
+        0.7802463354384431
+      ],
+      "rotation_wxyz": [
+        0.8581220765999348,
+        -0.0004676944464820918,
+        -0.0002060138853818411,
+        -0.5134454600753616
+      ],
+      "yaw_degrees_local": -61.84592711700046,
+      "yaw_radians": -1.0783901205667354,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9385361127282144,
+        8.497885043045187,
+        0.8194864102783344
+      ],
+      "z_min": 0.7408892619240326,
+      "z_max": 0.819369411603815
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.6490839722108657,
+        8.21694149746149,
+        0.7875477132206805
+      ],
+      "rotation_wxyz": [
+        0.8244484791713762,
+        -0.0004539433818598041,
+        -0.0002347663142488648,
+        -0.565936784466418
+      ],
+      "yaw_degrees_local": -68.99345791208944,
+      "yaw_radians": -1.2031380953093889,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6490839722108657,
+        8.21694149746149,
+        0.8341293164865985
+      ],
+      "z_min": 0.7409574793559804,
+      "z_max": 0.8341206858878164
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.988040813135952,
+        8.345208427414493,
+        0.7715031341937671
+      ],
+      "rotation_wxyz": [
+        0.6987317957907049,
+        -0.00030901810627847743,
+        0.0004070474496079987,
+        0.7153835449402515
+      ],
+      "yaw_degrees_local": 91.29058666668203,
+      "yaw_radians": 1.5943460796320779,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.988040813135952,
+        8.345208427414493,
+        0.8021055356991599
+      ],
+      "z_min": 0.7409111334603916,
+      "z_max": 0.8021159364711772
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        4.997279111220925,
+        8.346349953818269,
+        0.9929722476982082
+      ],
+      "rotation_wxyz": [
+        0.812476140250701,
+        0.0,
+        0.0,
+        -0.5829944438185695
+      ],
+      "yaw_degrees_local": -161.32286532350395,
+      "yaw_radians": -1.2448188318516347,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.997279111220925,
+        8.346349953818269,
+        1.065834692304952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0659249181098192
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.0561228079703247,
+        8.630329324503442,
+        0.7460272276625725
+      ],
+      "rotation_wxyz": [
+        0.8321416044322841,
+        -0.0003868604197399269,
+        0.0003339443544648722,
+        0.554562971170135
+      ],
+      "yaw_degrees_local": 67.30253674700086,
+      "yaw_radians": 1.1756754166422256,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0561228079703247,
+        8.630329324503442,
+        0.7513282182936859
+      ],
+      "z_min": 0.7407400165093048,
+      "z_max": 0.7513419977715318
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.6310860355462995,
+        8.20693030532706,
+        0.8172461564361256
+      ],
+      "rotation_wxyz": [
+        0.7223730966216881,
+        -0.0004101340352203753,
+        -0.0003049096413598045,
+        -0.6915033247189615
+      ],
+      "yaw_degrees_local": -87.55718107573075,
+      "yaw_radians": -1.5271363173303962,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6310860355462995,
+        8.20693030532706,
+        0.8934320949582117
+      ],
+      "z_min": 0.7410966299489233,
+      "z_max": 0.8934685069930957
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.7306133281779843,
+        8.691298174089406,
+        0.7878890916987012
+      ],
+      "rotation_wxyz": [
+        0.9432885927986933,
+        -0.0004573259983979457,
+        0.00022810687720810775,
+        0.3319734470044933
+      ],
+      "yaw_degrees_local": 38.718493921698325,
+      "yaw_radians": 0.6767896294168164,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7306133281779843,
+        8.691298174089406,
+        0.8353416174376816
+      ],
+      "z_min": 0.7404660421252727,
+      "z_max": 0.8353710936032336
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.190124235008649,
+        8.545793185570226,
+        0.7756481950201966
+      ],
+      "rotation_wxyz": [
+        0.9084467911587928,
+        -0.00043420732332701977,
+        0.000269525168786697,
+        0.4180001991069822
+      ],
+      "yaw_degrees_local": 49.35808833552571,
+      "yaw_radians": 0.8624856037828648,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.190124235008649,
+        8.545793185570226,
+        0.8107612693633819
+      ],
+      "z_min": 0.7406820920332656,
+      "z_max": 0.8109082407196364
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.807437088964309,
+        8.236828244947091,
+        0.7883670024774255
+      ],
+      "rotation_wxyz": [
+        0.7806532221941356,
+        -0.00043547352883826297,
+        -0.0002674745257430381,
+        -0.6249642273747337
+      ],
+      "yaw_degrees_local": -77.41784617162007,
+      "yaw_radians": -1.3501714591637843,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.807437088964309,
+        8.236828244947091,
+        0.8357331291386805
+      ],
+      "z_min": 0.7410439475626758,
+      "z_max": 0.8357762008851858
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        2.053115948696662,
+        8.268973512144477,
+        0.7464042173386944
+      ],
+      "rotation_wxyz": [
+        0.05651445810617835,
+        -9.190867078859153e-05,
+        -0.0005027251858363443,
+        -0.9984016500613112
+      ],
+      "yaw_degrees_local": -173.57917743826926,
+      "yaw_radians": -3.0285035884663807,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.053115948696662,
+        8.268973512144477,
+        0.7517538732383443
+      ],
+      "z_min": 0.7411068961794012,
+      "z_max": 0.7518062079787009
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.6930073192521502,
+        8.313349174621417,
+        0.8827424495778331
+      ],
+      "rotation_wxyz": [
+        0.9987064846507887,
+        -0.0005032390088919647,
+        8.905232265216754e-05,
+        0.05084384266209409
+      ],
+      "yaw_degrees_local": 5.770078711871264,
+      "yaw_radians": 0.10173144766328374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6930073192521502,
+        8.313349174621417,
+        1.0243032367735845
+      ],
+      "z_min": 0.7411075863387125,
+      "z_max": 1.0242291607302154
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.1348963999605504,
+        8.240617775972916,
+        0.8183661476981842
+      ],
+      "rotation_wxyz": [
+        0.5992774572555768,
+        -0.00025318843836294724,
+        0.0004439317863361945,
+        0.8005412344442191
+      ],
+      "yaw_degrees_local": 106.30494469550382,
+      "yaw_radians": 1.8563961771259072,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1348963999605504,
+        8.240617775972916,
+        0.8957479028315236
+      ],
+      "z_min": 0.7409986303308008,
+      "z_max": 0.8957621405974797
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.757295686323258,
+        8.871769700752857,
+        0.8010808202556783
+      ],
+      "rotation_wxyz": [
+        0.7614533114968702,
+        -0.000345080062884527,
+        0.00037696096142694074,
+        0.6482195563469484
+      ],
+      "yaw_degrees_local": 80.756298663802,
+      "yaw_radians": 1.4104879747248211,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.757295686323258,
+        8.871769700752857,
+        0.8617076867109379
+      ],
+      "z_min": 0.740406329453596,
+      "z_max": 0.8616600623641152
+    }
+  ],
+  "variant_index": 34
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0036/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0036/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..0481eea32f7bcda42a702d1231a20ae4cf5569ae
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0036/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4031931661111088076
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.967708722, -0.000506709341, -6.65241305e-05, -0.252070562)
+            double3 xformOp:translate = (2.76672408968, 8.28130548646, 0.741003970976)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.823803341, -0.00038185195, 0.000339659983, 0.566875466)
+            double3 xformOp:translate = (3.33252450371, 8.25127705373, 0.740962739232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.849517917, -0.000464225273, -0.000213716429, -0.527559521)
+            double3 xformOp:translate = (3.13396677165, 8.29673749003, 0.811113498077)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.141554528, -0.000134497184, -0.000493041909, -0.989930328)
+            double3 xformOp:translate = (2.40048184973, 8.32752137325, 0.749823009243)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.560052957, -0.00033649497, -0.000384643928, -0.828456652)
+            double3 xformOp:translate = (3.21618237118, 8.57402865954, 0.78000722892)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.319527791, -0.000102008138, 0.000500773558, 0.947576767)
+            double3 xformOp:translate = (1.80621453875, 8.54922719485, 0.752097032728)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.774804212, -0.000352865298, 0.00036968351, 0.632201053)
+            double3 xformOp:translate = (3.27970202428, 8.1875924558, 0.788613850834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.961562892, -0.000505018951, -7.83305541e-05, -0.274584312)
+            double3 xformOp:translate = (2.32702725689, 8.87373725405, 0.799457279355)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.857706789, -0.000467527777, -0.000206391846, -0.514138895)
+            double3 xformOp:translate = (3.50892263328, 8.54663049933, 0.753709332996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.875507037, -0.000413372283, 0.000300504862, 0.483205098)
+            double3 xformOp:translate = (1.70336368087, 8.7210004326, 0.796852696674)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.972798987, -0.000478646715, 0.000179100916, 0.231650316)
+            double3 xformOp:translate = (3.35975390999, 8.43174256915, 0.744329824606)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.603571402, -0.000255570744, 0.000442564584, 0.797308787)
+            double3 xformOp:translate = (3.72196295633, 8.36392197285, 0.78789542172)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.621607551, -0.000265602811, 0.00043661764, 0.783328662)
+            double3 xformOp:translate = (3.70906924022, 8.45155812616, 0.787288822747)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995805865, -0.000499193102, 0.000109480879, 0.0914899936)
+            double3 xformOp:translate = (3.61132858343, 8.23161142036, 0.748643552704)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.153637095, -0.000140510218, -0.000491362081, -0.988127209)
+            double3 xformOp:translate = (3.51732450043, 8.79931466322, 0.813155744303)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.827692118, -0.000384184681, 0.000337019209, 0.561182231)
+            double3 xformOp:translate = (1.77994421137, 8.86734021432, 0.752342006675)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.614729872, -0.000361706279, -0.000361037926, -0.78873755)
+            double3 xformOp:translate = (1.94490736635, 8.80626775732, 0.74858843626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.558888968, -0.00023088856, 0.000455927943, 0.829242341)
+            double3 xformOp:translate = (3.17066679449, 8.8121589425, 0.794324444467)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.705164409, -0.000402518424, -0.000314894799, -0.709043648)
+            double3 xformOp:translate = (1.98167472869, 8.41907087727, 0.788543539484)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999992688, -0.000506872164, 6.52719328e-05, 0.00378976911)
+            double3 xformOp:translate = (1.77088407509, 8.23460570167, 0.745497782255)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.967703077, -0.000506707851, -6.65354776e-05, -0.252092233)
+            double3 xformOp:translate = (3.60426368507, 8.36202867848, 0.796975931218)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.853378799, -0.000399737934, 0.000318417023, 0.521291055)
+            double3 xformOp:translate = (1.75426387548, 8.49162511666, 0.788342012228)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.847996373, -0.00039645659, 0.000322493392, 0.530001783)
+            double3 xformOp:translate = (2.52585403868, 8.86431665711, 0.817810738573)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.233330983, -0.000179927758, -0.000478336511, -0.972397239)
+            double3 xformOp:translate = (2.98352841923, 8.295696555, 0.747620332484)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0231573512, 5.15900846e-05, 0.000508446929, 0.999731702)
+            double3 xformOp:translate = (3.47450317832, 8.31555965456, 0.749913467192)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.47473732, -0.000184990321, 0.000476401508, 0.880127386)
+            double3 xformOp:translate = (2.17847030294, 8.24225565471, 0.812400686091)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.315755772, 0, 0, 0.948840499)
+            double3 xformOp:translate = (4.95866554458, 8.31073536561, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999972478, -0.000507570892, 5.95953536e-05, -0.0074015547)
+            double3 xformOp:translate = (2.03358254657, 8.32804138276, 0.788472534127)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999997561, -0.000507250828, 6.22608489e-05, -0.00214850321)
+            double3 xformOp:translate = (1.97052502358, 8.59746850688, 0.79978264924)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997573986, -0.000501475704, 9.84983986e-05, 0.0696123714)
+            double3 xformOp:translate = (3.66991894782, 8.84979031896, 0.754643825117)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0036/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0036/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d15045fb8dd54662cdf6fb6d57595ca1d3e35a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0036/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4031931661111088076,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small object": 5,
+    "electronics accessory": 1,
+    "office_supply": 2,
+    "electronics": 7,
+    "paper goods": 2,
+    "book": 3,
+    "small_electronics": 1,
+    "paper_goods": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 156,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.7667240896836693,
+        8.281305486464365,
+        0.7410039709761259
+      ],
+      "rotation_wxyz": [
+        0.9677087219739827,
+        -0.0005067093410503952,
+        -6.65241304534446e-05,
+        -0.2520705620171961
+      ],
+      "yaw_degrees_local": -29.25885686252164,
+      "yaw_radians": -0.5096385155481655,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7667240896836693,
+        8.281305486464365,
+        0.7910040648534414
+      ],
+      "z_min": 0.7410039709761259,
+      "z_max": 0.841004158730757
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.33252450371117,
+        8.251277053728135,
+        0.7409627392324539
+      ],
+      "rotation_wxyz": [
+        0.8238033412334607,
+        -0.00038185195019210333,
+        0.0003396599834758284,
+        0.5668754658589225
+      ],
+      "yaw_degrees_local": 69.00655712060205,
+      "yaw_radians": 1.2054161962242986,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.33252450371117,
+        8.251277053728135,
+        0.7909628331097694
+      ],
+      "z_min": 0.7409627392324539,
+      "z_max": 0.840962926987085
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.1339667716479114,
+        8.296737490027702,
+        0.8111134980773691
+      ],
+      "rotation_wxyz": [
+        0.8495179165265597,
+        -0.0004642252730590746,
+        -0.00021371642916149472,
+        -0.5275595211163924
+      ],
+      "yaw_degrees_local": -63.740138352970305,
+      "yaw_radians": -1.1114503496142172,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1339667716479114,
+        8.296737490027702,
+        0.8812898643092879
+      ],
+      "z_min": 0.740941825937149,
+      "z_max": 0.8812945584009867
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        2.400481849734604,
+        8.327521373248235,
+        0.7498230092434992
+      ],
+      "rotation_wxyz": [
+        0.14155452758847925,
+        -0.00013449718409252364,
+        -0.0004930419086766301,
+        -0.9899303281238465
+      ],
+      "yaw_degrees_local": -163.7830881791868,
+      "yaw_radians": -2.8575296480584793,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.400481849734604,
+        8.327521373248235,
+        0.7586251323668932
+      ],
+      "z_min": 0.7410035052457443,
+      "z_max": 0.7586077514925325
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.2161823711820188,
+        8.574028659535099,
+        0.7800072289200554
+      ],
+      "rotation_wxyz": [
+        0.5600529571839701,
+        -0.0003364949702216138,
+        -0.0003846439278811871,
+        -0.8284566518350095
+      ],
+      "yaw_degrees_local": -111.93977997591394,
+      "yaw_radians": -1.9526931631098983,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2161823711820188,
+        8.574028659535099,
+        0.8192473037599466
+      ],
+      "z_min": 0.7406501554056448,
+      "z_max": 0.8191303050854273
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        1.8062145387479107,
+        8.549227194845939,
+        0.7520970327276321
+      ],
+      "rotation_wxyz": [
+        0.31952779057874214,
+        -0.00010200813769625639,
+        0.0005007735576925505,
+        0.9475767672690437
+      ],
+      "yaw_degrees_local": 142.67254439133404,
+      "yaw_radians": 2.491130568808226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8062145387479107,
+        8.549227194845939,
+        0.7633300319515443
+      ],
+      "z_min": 0.7408539396676829,
+      "z_max": 0.7633199381155072
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.2797020242842683,
+        8.187592455804786,
+        0.7886138508342787
+      ],
+      "rotation_wxyz": [
+        0.7748042119652798,
+        -0.00035286529841151994,
+        0.0003696835097989381,
+        0.6322010534165896
+      ],
+      "yaw_degrees_local": 78.3667009853155,
+      "yaw_radians": 1.368781605798596,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2797020242842683,
+        8.187592455804786,
+        0.8360127762623791
+      ],
+      "z_min": 0.741034047721979,
+      "z_max": 0.83583189857818
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.3270272568930914,
+        8.873737254052617,
+        0.7994572793550169
+      ],
+      "rotation_wxyz": [
+        0.9615628915240939,
+        -0.000505018950673986,
+        -7.833055406709864e-05,
+        -0.27458431212290263
+      ],
+      "yaw_degrees_local": -31.93320152942033,
+      "yaw_radians": -0.5563146186446373,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3270272568930914,
+        8.873737254052617,
+        0.858583557387537
+      ],
+      "z_min": 0.7404588485143108,
+      "z_max": 0.858711404579351
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.5089226332816397,
+        8.546630499329298,
+        0.7537093329957381
+      ],
+      "rotation_wxyz": [
+        0.8577067885285414,
+        -0.0004675277767775595,
+        -0.00020639184620944962,
+        -0.5141388953699573
+      ],
+      "yaw_degrees_local": -61.93854920627787,
+      "yaw_radians": -1.0800066812655444,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5089226332816397,
+        8.546630499329298,
+        0.7669369825859051
+      ],
+      "z_min": 0.7406408392500273,
+      "z_max": 0.7670961384303614
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.7033636808729133,
+        8.721000432602908,
+        0.7968526966743799
+      ],
+      "rotation_wxyz": [
+        0.8755070373819099,
+        -0.00041337228282525563,
+        0.0003005048619110005,
+        0.4832050975672081
+      ],
+      "yaw_degrees_local": 57.731181985471096,
+      "yaw_radians": 1.008623696237387,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7033636808729133,
+        8.721000432602908,
+        0.8530349764842725
+      ],
+      "z_min": 0.7406927765044157,
+      "z_max": 0.853057336124201
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.359753909988928,
+        8.431742569150035,
+        0.7443298246064672
+      ],
+      "rotation_wxyz": [
+        0.9727989874434021,
+        -0.0004786467152955784,
+        0.00017910091618153734,
+        0.23165031588425605
+      ],
+      "yaw_degrees_local": 26.7297976054991,
+      "yaw_radians": 0.4675474248786416,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.359753909988928,
+        8.431742569150035,
+        0.747904885182687
+      ],
+      "z_min": 0.7407762571597637,
+      "z_max": 0.7479263783122033
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.72196295633161,
+        8.363921972851074,
+        0.7878954217195876
+      ],
+      "rotation_wxyz": [
+        0.603571401883224,
+        -0.0002555707435088796,
+        0.00044256458432937346,
+        0.7973087868880562
+      ],
+      "yaw_degrees_local": 105.68905632274351,
+      "yaw_radians": 1.845646893321007,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.72196295633161,
+        8.363921972851074,
+        0.8350011724062201
+      ],
+      "z_min": 0.740799173443773,
+      "z_max": 0.835010674817038
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.709069240219673,
+        8.451558126155806,
+        0.7872888227465393
+      ],
+      "rotation_wxyz": [
+        0.6216075505280009,
+        -0.00026560281081877387,
+        0.0004366176395033522,
+        0.783328661512371
+      ],
+      "yaw_degrees_local": 103.07403451628147,
+      "yaw_radians": 1.8000061353913404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.709069240219673,
+        8.451558126155806,
+        0.8336559908824243
+      ],
+      "z_min": 0.7407119234141805,
+      "z_max": 0.8334462596859503
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.6113285834320767,
+        8.23161142036438,
+        0.7486435527037233
+      ],
+      "rotation_wxyz": [
+        0.9958058645559302,
+        -0.000499193102396659,
+        0.00010948087851269487,
+        0.09148999363974332
+      ],
+      "yaw_degrees_local": 10.439953214814722,
+      "yaw_radians": 0.1832360967774772,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6113285834320767,
+        8.23161142036438,
+        0.7564984590475239
+      ],
+      "z_min": 0.740947363981503,
+      "z_max": 0.7566571766691041
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.517324500428259,
+        8.799314663222138,
+        0.8131557443030213
+      ],
+      "rotation_wxyz": [
+        0.15363709524269836,
+        -0.00014051021838539716,
+        -0.0004913620811271465,
+        -0.9881272093134416
+      ],
+      "yaw_degrees_local": -162.38318648897513,
+      "yaw_radians": -2.833096762867244,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.517324500428259,
+        8.799314663222138,
+        0.886018188909765
+      ],
+      "z_min": 0.7403835255011448,
+      "z_max": 0.8861084147146322
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        1.77994421137264,
+        8.867340214320276,
+        0.752342006675361
+      ],
+      "rotation_wxyz": [
+        0.8276921183205972,
+        -0.0003841846806436921,
+        0.00033701920924335597,
+        0.5611822307327154
+      ],
+      "yaw_degrees_local": 68.21649245418936,
+      "yaw_radians": 1.1916269601569578,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.77994421137264,
+        8.867340214320276,
+        0.7640293316280277
+      ],
+      "z_min": 0.7405346279819619,
+      "z_max": 0.7639092778872952
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        1.9449073663493444,
+        8.806267757317546,
+        0.7485884362598536
+      ],
+      "rotation_wxyz": [
+        0.6147298718472664,
+        -0.00036170627941836735,
+        -0.00036103792552810097,
+        -0.7887375504430022
+      ],
+      "yaw_degrees_local": -104.19410891779313,
+      "yaw_radians": -1.8175056349910057,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9449073663493444,
+        8.806267757317546,
+        0.7564177754446716
+      ],
+      "z_min": 0.7405756666342909,
+      "z_max": 0.7562343450039268
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.170666794488698,
+        8.8121589424968,
+        0.79432444446653
+      ],
+      "rotation_wxyz": [
+        0.5588889680722294,
+        -0.00023088856034257592,
+        0.0004559279427094213,
+        0.8292423410483468
+      ],
+      "yaw_degrees_local": 111.9832849817704,
+      "yaw_radians": 1.9555019425278906,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.170666794488698,
+        8.8121589424968,
+        0.8482446467599283
+      ],
+      "z_min": 0.7404144104867039,
+      "z_max": 0.8482548150735002
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.9816747286896703,
+        8.419070877270824,
+        0.7885435394835424
+      ],
+      "rotation_wxyz": [
+        0.7051644087995167,
+        -0.00040251842408307566,
+        -0.00031489479912184945,
+        -0.7090436484325998
+      ],
+      "yaw_degrees_local": -90.37303970073047,
+      "yaw_radians": -1.576282346221207,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9816747286896703,
+        8.419070877270824,
+        0.8359424649116428
+      ],
+      "z_min": 0.7409637363712427,
+      "z_max": 0.8357615872274436
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.770884075088157,
+        8.234605701670786,
+        0.7454977822553484
+      ],
+      "rotation_wxyz": [
+        0.9999926882084078,
+        -0.0005068721643800637,
+        6.527193284239589e-05,
+        0.0037897691098754973
+      ],
+      "yaw_degrees_local": 0.37556622764120107,
+      "yaw_radians": 0.007579489270840306,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.770884075088157,
+        8.234605701670786,
+        0.7496343836154754
+      ],
+      "z_min": 0.7411775117028809,
+      "z_max": 0.749450714423135
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.6042636850714045,
+        8.362028678480938,
+        0.7969759312178483
+      ],
+      "rotation_wxyz": [
+        0.9677030768981868,
+        -0.0005067078511912052,
+        -6.653547761535963e-05,
+        -0.25209223268868475
+      ],
+      "yaw_degrees_local": -29.26142300997654,
+      "yaw_radians": -0.5096833032535618,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6042636850714045,
+        8.362028678480938,
+        0.8531582110277409
+      ],
+      "z_min": 0.7408160110478841,
+      "z_max": 0.8531805706676694
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.7542638754816184,
+        8.491625116656452,
+        0.7883420122284958
+      ],
+      "rotation_wxyz": [
+        0.8533787993420479,
+        -0.00039973793414494494,
+        0.00031841702254409114,
+        0.5212910546457794
+      ],
+      "yaw_degrees_local": 62.77908431640802,
+      "yaw_radians": 1.0967262446567985,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7542638754816184,
+        8.491625116656452,
+        0.8357945379674762
+      ],
+      "z_min": 0.7409189626550672,
+      "z_max": 0.8358240141330281
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.525854038682543,
+        8.8643166571073,
+        0.8178107385734988
+      ],
+      "rotation_wxyz": [
+        0.8479963728966046,
+        -0.0003964565904108594,
+        0.0003224933924286026,
+        0.5300017833690626
+      ],
+      "yaw_degrees_local": 63.95244957941355,
+      "yaw_radians": 1.117205340148276,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.525854038682543,
+        8.8643166571073,
+        0.8951924937068383
+      ],
+      "z_min": 0.7404432212061155,
+      "z_max": 0.8952067314727944
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.9835284192342586,
+        8.295696555002795,
+        0.7476203324841318
+      ],
+      "rotation_wxyz": [
+        0.2333309827897728,
+        -0.00017992775823266996,
+        -0.00047833651131570386,
+        -0.9723972394502891
+      ],
+      "yaw_degrees_local": -153.07218618377567,
+      "yaw_radians": -2.6705891945374685,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9835284192342586,
+        8.295696555002795,
+        0.7542331367676196
+      ],
+      "z_min": 0.7409619092179756,
+      "z_max": 0.7541875177849511
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.474503178324651,
+        8.31555965456182,
+        0.7499134671918456
+      ],
+      "rotation_wxyz": [
+        0.023157351153952063,
+        5.159008456129628e-05,
+        0.0005084469288089671,
+        0.9997317019619397
+      ],
+      "yaw_degrees_local": 177.28741503068903,
+      "yaw_radians": 3.09527376419797,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.474503178324651,
+        8.31555965456182,
+        0.7587467132953278
+      ],
+      "z_min": 0.7408795576120463,
+      "z_max": 0.7585460498190107
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        2.178470302941876,
+        8.242255654706474,
+        0.8124006860912366
+      ],
+      "rotation_wxyz": [
+        0.47473731950879966,
+        -0.00018499032132507492,
+        0.00047640150845306746,
+        0.8801273863968692
+      ],
+      "yaw_degrees_local": 123.25678489427298,
+      "yaw_radians": 2.152261669821533,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.178470302941876,
+        8.242255654706474,
+        0.8838789328213046
+      ],
+      "z_min": 0.741118146221026,
+      "z_max": 0.884074639681162
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.958665544583512,
+        8.310735365612329,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        0.31575577164081414,
+        0.0,
+        0.0,
+        0.9488404990700567
+      ],
+      "yaw_degrees_local": 53.18710988193163,
+      "yaw_radians": 2.4990865138546163,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.958665544583512,
+        8.310735365612329,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.033582546568239,
+        8.328041382763306,
+        0.7884725341265257
+      ],
+      "rotation_wxyz": [
+        0.9999724775253245,
+        -0.0005075708916681478,
+        5.959535360675389e-05,
+        -0.007401554704826492
+      ],
+      "yaw_degrees_local": -0.9068739671493233,
+      "yaw_radians": -0.014803303236079484,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.033582546568239,
+        8.328041382763306,
+        0.8359250598655061
+      ],
+      "z_min": 0.7410494845530972,
+      "z_max": 0.8359545360310581
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        1.970525023582875,
+        8.597468506884969,
+        0.7997826492403891
+      ],
+      "rotation_wxyz": [
+        0.9999975613740935,
+        -0.0005072508284201199,
+        6.226084891337917e-05,
+        -0.0021485032115909223
+      ],
+      "yaw_degrees_local": -0.3049109734175204,
+      "yaw_radians": -0.004297072364390047,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.970525023582875,
+        8.597468506884969,
+        0.8589089272729092
+      ],
+      "z_min": 0.740784218399683,
+      "z_max": 0.8590367744647233
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.669918947817779,
+        8.849790318960794,
+        0.7546438251165071
+      ],
+      "rotation_wxyz": [
+        0.997573985508953,
+        -0.000501475704005588,
+        9.84983986286702e-05,
+        0.06961237142898613
+      ],
+      "yaw_degrees_local": 7.92473747673759,
+      "yaw_radians": 0.13933732003543026,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.669918947817779,
+        8.849790318960794,
+        0.768779308022549
+      ],
+      "z_min": 0.7403129670520434,
+      "z_max": 0.7685839328641273
+    }
+  ],
+  "variant_index": 36
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0042/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0042/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..e0749977a4bfc19625624afae74b0b5bd04cd9d4
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0042/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6590989313402410430
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0855516016, -0.000106502858, -0.000499836931, -0.99633361)
+            double3 xformOp:translate = (3.74559994558, 8.81134682195, 0.740342361331)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.944638332, -0.00049982731, -0.000106548001, -0.328113031)
+            double3 xformOp:translate = (3.54367034882, 8.66427199608, 0.740517114058)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.215408136, -0.000171100228, -0.000481564667, -0.976523975)
+            double3 xformOp:translate = (3.60668586545, 8.43277995374, 0.796903866105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.960744242, -0.00046963307, 0.000201555441, 0.27743511)
+            double3 xformOp:translate = (3.28842338122, 8.48840270011, 0.780073810944)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.387236588, -0.000137965903, 0.00049208254, 0.921980241)
+            double3 xformOp:translate = (3.43767319731, 8.41246485948, 0.7508076326)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96180981, -0.000470408908, 0.000199738018, 0.273718155)
+            double3 xformOp:translate = (3.72697661202, 8.29043907458, 0.805121548621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.736626592, -0.000416399039, -0.000296296568, -0.676299492)
+            double3 xformOp:translate = (3.56827820349, 8.25403941541, 0.745250340108)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.733874908, -0.000329126637, 0.000390967356, 0.679284446)
+            double3 xformOp:translate = (1.79142587636, 8.51813259164, 0.753397743353)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.299256985, 0, 0, 0.954172551)
+            double3 xformOp:translate = (4.8810441205, 8.12034630761, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0657137281, 2.98891242e-05, 0.000510182768, 0.997838386)
+            double3 xformOp:translate = (3.25023079161, 8.30960948704, 0.788237082942)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.685662373, -0.000393824428, -0.000325702527, -0.727919535)
+            double3 xformOp:translate = (1.79901294823, 8.77727327278, 0.781187104209)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905181938, -0.000432106703, 0.000272880219, 0.425023997)
+            double3 xformOp:translate = (2.08259584683, 8.27658410771, 0.788675267331)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0170910503, -7.20084265e-05, -0.000505959092, -0.999853807)
+            double3 xformOp:translate = (2.47278783055, 8.2532674494, 0.788165922986)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.675856941, -0.000389429258, -0.000330945115, -0.737032654)
+            double3 xformOp:translate = (3.63964444209, 8.81396003654, 0.787776209951)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.618625089, -0.000363488299, -0.000359243751, -0.785686158)
+            double3 xformOp:translate = (1.82005770545, 8.41475130718, 0.753505132055)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.901415515, -0.000484550109, -0.000162453095, -0.432954742)
+            double3 xformOp:translate = (2.27242703211, 8.27934382804, 0.818603380323)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.899824189, -0.000428678376, 0.000278234911, 0.436252414)
+            double3 xformOp:translate = (2.01686268467, 8.80060308663, 0.77240420023)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.101935756, 1.13272931e-05, 0.000510932, 0.994790853)
+            double3 xformOp:translate = (2.71820764657, 8.28087383878, 0.757788138729)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.877060998, -0.000475203882, -0.000188045439, -0.480378751)
+            double3 xformOp:translate = (3.68521917403, 8.50333254038, 0.822573329053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999990858, -0.000507380259, 6.11971338e-05, -0.00424524344)
+            double3 xformOp:translate = (3.61645667946, 8.16516639353, 0.746301314825)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994579415, -0.000510954185, 1.02779952e-05, -0.10397849)
+            double3 xformOp:translate = (3.04904427017, 8.26595895932, 0.750742385105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.727367259, -0.000412333741, -0.000301928307, -0.686248212)
+            double3 xformOp:translate = (1.91571518268, 8.66641058953, 0.788245036952)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.717261627, -0.000407877714, -0.000307921397, -0.696803772)
+            double3 xformOp:translate = (3.27912170354, 8.89989436241, 0.748305895875)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.657164215, 0, 0, 0.753747434)
+            double3 xformOp:translate = (4.97779970503, 8.45680659745, 1.00211090552)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.90849306, -0.000487185496, -0.00015437004, -0.417899627)
+            double3 xformOp:translate = (3.3694434972, 8.67117437422, 0.84078924603)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985255893, -0.000510477402, -2.4344158e-05, -0.171086422)
+            double3 xformOp:translate = (1.81992750365, 8.25337739325, 0.745472529544)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999586584, -0.000508727455, 4.87462102e-05, -0.0287471597)
+            double3 xformOp:translate = (3.41919970944, 8.80134584655, 0.74564701033)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.135135748, -0.000131298921, -0.000493903239, -0.990826962)
+            double3 xformOp:translate = (3.03452800641, 8.89503468439, 0.775313697271)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.501075767, -0.000199279749, 0.000470603228, 0.865403267)
+            double3 xformOp:translate = (2.2871412861, 8.9040456012, 0.747091558336)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.745035116, -0.000420075595, -0.000291060665, -0.667025048)
+            double3 xformOp:translate = (3.62954254572, 8.62033237733, 0.870502029926)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0042/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0042/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbe807a86bb8147fbdc110a0d2af986c4b51e58
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0042/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6590989313402410430,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 5,
+    "office_supply": 3,
+    "drinkware/container": 2,
+    "small object": 7,
+    "paper goods": 1,
+    "clock": 2,
+    "book": 1,
+    "office_supplies": 1,
+    "writing_instrument": 1
+  },
+  "failed_sampling_attempt_count": 166,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.745599945577582,
+        8.811346821950565,
+        0.7403423613306459
+      ],
+      "rotation_wxyz": [
+        0.0855516016358751,
+        -0.00010650285812953961,
+        -0.000499836930859007,
+        -0.9963336099307905
+      ],
+      "yaw_degrees_local": -170.24321941539992,
+      "yaw_radians": -2.9702801634396145,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.745599945577582,
+        8.811346821950565,
+        0.7903424552079614
+      ],
+      "z_min": 0.7403423613306459,
+      "z_max": 0.840342549085277
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5436703488248007,
+        8.66427199608325,
+        0.7405171140576764
+      ],
+      "rotation_wxyz": [
+        0.9446383317838098,
+        -0.0004998273098036319,
+        -0.00010654800145838853,
+        -0.3281130307453285
+      ],
+      "yaw_degrees_local": -38.36728380282426,
+      "yaw_radians": -0.6686105058776414,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5436703488248007,
+        8.66427199608325,
+        0.7905172079349919
+      ],
+      "z_min": 0.7405171140576764,
+      "z_max": 0.8405173018123074
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.6066858654536516,
+        8.432779953743463,
+        0.7969038661049183
+      ],
+      "rotation_wxyz": [
+        0.21540813595918526,
+        -0.00017110022756533283,
+        -0.000481564666859399,
+        -0.9765239750168826
+      ],
+      "yaw_degrees_local": -155.1797614414788,
+      "yaw_radians": -2.7073733142371923,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6066858654536516,
+        8.432779953743463,
+        0.8530861459148109
+      ],
+      "z_min": 0.7407439459349541,
+      "z_max": 0.8531085055547394
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.28842338122114,
+        8.488402700114916,
+        0.7800738109441286
+      ],
+      "rotation_wxyz": [
+        0.9607442420255843,
+        -0.0004696330699500477,
+        0.0002015554411312336,
+        0.27743510995342596
+      ],
+      "yaw_degrees_local": 32.15566095526654,
+      "yaw_radians": 0.5622465908556931,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.28842338122114,
+        8.488402700114916,
+        0.8194226702700045
+      ],
+      "z_min": 0.7407278469861923,
+      "z_max": 0.819425565637944
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.4376731973123666,
+        8.412464859482952,
+        0.7508076326003995
+      ],
+      "rotation_wxyz": [
+        0.38723658751794215,
+        -0.00013796590288052394,
+        0.0004920825397051541,
+        0.9219802406275545
+      ],
+      "yaw_degrees_local": 134.3759618591219,
+      "yaw_radians": 2.346327914469226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4376731973123666,
+        8.412464859482952,
+        0.7608449835812182
+      ],
+      "z_min": 0.7407859401508974,
+      "z_max": 0.7608606421125348
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.726976612017153,
+        8.290439074576025,
+        0.8051215486207984
+      ],
+      "rotation_wxyz": [
+        0.9618098099865307,
+        -0.0004704089075990881,
+        0.0001997380181431296,
+        0.273718154739246
+      ],
+      "yaw_degrees_local": 31.712572073896013,
+      "yaw_radians": 0.5545132318210082,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.726976612017153,
+        8.290439074576025,
+        0.869310502708519
+      ],
+      "z_min": 0.7408730758875319,
+      "z_max": 0.869250984062973
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.568278203492385,
+        8.25403941541224,
+        0.7452503401076472
+      ],
+      "rotation_wxyz": [
+        0.7366265922904426,
+        -0.0004163990392129352,
+        -0.00029629656829409455,
+        -0.67629949160912
+      ],
+      "yaw_degrees_local": -85.1690134938438,
+      "yaw_radians": -1.4854549097037701,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.568278203492385,
+        8.25403941541224,
+        0.7493869414677743
+      ],
+      "z_min": 0.7409300695551798,
+      "z_max": 0.7492032722754339
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        1.7914258763557833,
+        8.518132591643111,
+        0.7533977433527262
+      ],
+      "rotation_wxyz": [
+        0.7338749081062839,
+        -0.00032912663685278015,
+        0.0003909673556120649,
+        0.6792844456280281
+      ],
+      "yaw_degrees_local": 85.51680818179653,
+      "yaw_radians": 1.493574583234889,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7914258763557833,
+        8.518132591643111,
+        0.7659685661179911
+      ],
+      "z_min": 0.7408873512168748,
+      "z_max": 0.7660289967474044
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.8810441205028505,
+        8.12034630761228,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        -0.2992569847859811,
+        0.0,
+        0.0,
+        0.9541725509868764
+      ],
+      "yaw_degrees_local": 124.82596276645427,
+      "yaw_radians": -2.533764938138213,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8810441205028505,
+        8.12034630761228,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.2502307916071116,
+        8.309609487038156,
+        0.7882370829415493
+      ],
+      "rotation_wxyz": [
+        0.06571372814763658,
+        2.9889124158184416e-05,
+        0.000510182767738552,
+        0.9978383860892115
+      ],
+      "yaw_degrees_local": 172.4056198478732,
+      "yaw_radians": 3.0100704091917123,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2502307916071116,
+        8.309609487038156,
+        0.8356032096028042
+      ],
+      "z_min": 0.7409140280267995,
+      "z_max": 0.8356462813493095
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        1.7990129482280701,
+        8.777273272780702,
+        0.7811871042094893
+      ],
+      "rotation_wxyz": [
+        0.6856623729975632,
+        -0.0003938244282092739,
+        -0.0003257025268338444,
+        -0.7279195347533507
+      ],
+      "yaw_degrees_local": -93.48325368516575,
+      "yaw_radians": -1.630565848557953,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7990129482280701,
+        8.777273272780702,
+        0.8217371133490209
+      ],
+      "z_min": 0.7406235757629244,
+      "z_max": 0.8217235940419874
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.0825958468316186,
+        8.276584107706583,
+        0.7886752673313426
+      ],
+      "rotation_wxyz": [
+        0.9051819377402724,
+        -0.00043210670262005727,
+        0.0002728802187611517,
+        0.4250239974506729
+      ],
+      "yaw_degrees_local": 50.24566137158038,
+      "yaw_radians": 0.8779766789002517,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0825958468316186,
+        8.276584107706583,
+        0.8360741927594431
+      ],
+      "z_min": 0.7410954642190429,
+      "z_max": 0.8358933150752439
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.472787830551122,
+        8.253267449401262,
+        0.7881659229858753
+      ],
+      "rotation_wxyz": [
+        0.0170910502627274,
+        -7.200842653591568e-05,
+        -0.0005059590919710153,
+        -0.9998538067243136
+      ],
+      "yaw_degrees_local": -178.10012470880034,
+      "yaw_radians": -3.1074089656556985,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.472787830551122,
+        8.253267449401262,
+        0.8352716736725078
+      ],
+      "z_min": 0.7410696747100607,
+      "z_max": 0.8352811760833256
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.6396444420850593,
+        8.813960036541049,
+        0.7877762099506569
+      ],
+      "rotation_wxyz": [
+        0.6758569414378458,
+        -0.0003894292584863801,
+        -0.0003309451145961529,
+        -0.7370326543176119
+      ],
+      "yaw_degrees_local": -95.01723263474476,
+      "yaw_radians": -1.657338845794823,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6396444420850593,
+        8.813960036541049,
+        0.8352287356896373
+      ],
+      "z_min": 0.7403531603772283,
+      "z_max": 0.8352582118551892
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        1.8200577054538543,
+        8.414751307176248,
+        0.7535051320549955
+      ],
+      "rotation_wxyz": [
+        0.6186250889038394,
+        -0.0003634882987434129,
+        -0.00035924375139580655,
+        -0.7856861575711391
+      ],
+      "yaw_degrees_local": -103.62709753162943,
+      "yaw_radians": -1.8076094143788888,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8200577054538543,
+        8.414751307176248,
+        0.7660737983140249
+      ],
+      "z_min": 0.7409885761605128,
+      "z_max": 0.7661259086785716
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.272427032105502,
+        8.279343828040862,
+        0.8186033803231249
+      ],
+      "rotation_wxyz": [
+        0.9014155146979375,
+        -0.00048455010899674104,
+        -0.00016245309511227847,
+        -0.43295474207131235
+      ],
+      "yaw_degrees_local": -51.36916195558945,
+      "yaw_radians": -0.8955360589184307,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.272427032105502,
+        8.279343828040862,
+        0.8963102141565573
+      ],
+      "z_min": 0.741068629045279,
+      "z_max": 0.896482296712144
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        2.016862684669961,
+        8.800603086634663,
+        0.7724042002301943
+      ],
+      "rotation_wxyz": [
+        0.899824188625805,
+        -0.0004286783762861645,
+        0.00027823491144169917,
+        0.43625241361406314
+      ],
+      "yaw_degrees_local": 51.67132425233328,
+      "yaw_radians": 0.9028591959462059,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.016862684669961,
+        8.800603086634663,
+        0.8042554179736662
+      ],
+      "z_min": 0.7405723075482755,
+      "z_max": 0.8042747430352193
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        2.7182076465692493,
+        8.280873838783965,
+        0.7577881387293781
+      ],
+      "rotation_wxyz": [
+        0.10193575581991336,
+        1.13272930576788e-05,
+        0.0005109320000472647,
+        0.994790852644719
+      ],
+      "yaw_degrees_local": 168.23998638021294,
+      "yaw_radians": 2.937366427549833,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7182076465692493,
+        8.280873838783965,
+        0.7747391539217836
+      ],
+      "z_min": 0.7410105646187258,
+      "z_max": 0.7749125950035367
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.685219174034872,
+        8.503332540379752,
+        0.8225733290529976
+      ],
+      "rotation_wxyz": [
+        0.8770609981809672,
+        -0.00047520388180469296,
+        -0.0001880454385462833,
+        -0.48037875087267295
+      ],
+      "yaw_degrees_local": -57.47900211609053,
+      "yaw_radians": -1.0021728908415746,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.685219174034872,
+        8.503332540379752,
+        0.9045093380938165
+      ],
+      "z_min": 0.7406624524244705,
+      "z_max": 0.904534470506108
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.6164566794597532,
+        8.165166393530201,
+        0.7463013148251469
+      ],
+      "rotation_wxyz": [
+        0.9999908583223573,
+        -0.0005073802588292731,
+        6.119713384344488e-05,
+        -0.0042452434440359045
+      ],
+      "yaw_degrees_local": -0.545181008700439,
+      "yaw_radians": -0.008490573444051104,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6164566794597532,
+        8.165166393530201,
+        0.7516023054562604
+      ],
+      "z_min": 0.7410141036718793,
+      "z_max": 0.7516160849341063
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20436342125653262,
+        0.14879127618011345,
+        0.018590556416936507
+      ],
+      "bbox_min_m": [
+        -0.1021962390178176,
+        -0.07430109887474819,
+        -0.009758614373121338
+      ],
+      "bbox_max_m": [
+        0.102167182238715,
+        0.07449017730536524,
+        0.008831942043815134
+      ],
+      "translation_world": [
+        3.049044270169268,
+        8.265958959320507,
+        0.7507423851052127
+      ],
+      "rotation_wxyz": [
+        0.9945794148429978,
+        -0.0005109541848875822,
+        1.0277995241246576e-05,
+        -0.10397849003877661
+      ],
+      "yaw_degrees_local": -11.995344387892288,
+      "yaw_radians": -0.20833352065795202,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.049044270169268,
+        8.265958959320507,
+        0.760037663313681
+      ],
+      "z_min": 0.7409837707320914,
+      "z_max": 0.7595743271490278
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.9157151826799033,
+        8.666410589527825,
+        0.7882450369523157
+      ],
+      "rotation_wxyz": [
+        0.7273672593945728,
+        -0.0004123337406170186,
+        -0.0003019283070351136,
+        -0.6862482122242739
+      ],
+      "yaw_degrees_local": -86.72642694293926,
+      "yaw_radians": -1.5126369153251482,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9157151826799033,
+        8.666410589527825,
+        0.8357685141525595
+      ],
+      "z_min": 0.7407212335954582,
+      "z_max": 0.8357681879959458
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.2791217035390976,
+        8.899894362409734,
+        0.74830589587542
+      ],
+      "rotation_wxyz": [
+        0.7172616272888653,
+        -0.00040787771378630964,
+        -0.0003079213971726646,
+        -0.6968037721188892
+      ],
+      "yaw_degrees_local": -88.40098371055389,
+      "yaw_radians": -1.5418634588443467,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2791217035390976,
+        8.899894362409734,
+        0.7564013212428541
+      ],
+      "z_min": 0.7403116610576685,
+      "z_max": 0.7565025117925368
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        4.977799705026842,
+        8.45680659744675,
+        1.002110905524859
+      ],
+      "rotation_wxyz": [
+        0.6571642147087045,
+        0.0,
+        0.0,
+        0.753747434427668
+      ],
+      "yaw_degrees_local": 7.832086787265297,
+      "yaw_radians": 1.7074920285346207,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.977799705026842,
+        8.45680659744675,
+        1.0840469145656777
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.0840720469779694
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.36944349720316,
+        8.671174374215177,
+        0.8407892460295001
+      ],
+      "rotation_wxyz": [
+        0.9084930602487405,
+        -0.00048718549555594253,
+        -0.0001543700397105064,
+        -0.4178996270637988
+      ],
+      "yaw_degrees_local": -49.46282333065375,
+      "yaw_radians": -0.8622641743243005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.36944349720316,
+        8.671174374215177,
+        0.9410061260921501
+      ],
+      "z_min": 0.7405322405512216,
+      "z_max": 0.9409660006765216
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.8199275036549722,
+        8.25337739324806,
+        0.7454725295443784
+      ],
+      "rotation_wxyz": [
+        0.9852558931846216,
+        -0.0005104774022549575,
+        -2.434415797153289e-05,
+        -0.17108642191932566
+      ],
+      "yaw_degrees_local": -19.760696859467032,
+      "yaw_radians": -0.34386442151411717,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8199275036549722,
+        8.25337739324806,
+        0.7496091309045054
+      ],
+      "z_min": 0.741152258991911,
+      "z_max": 0.7494254617121651
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.4191997094413153,
+        8.801345846547214,
+        0.7456470103304427
+      ],
+      "rotation_wxyz": [
+        0.9995865843582287,
+        -0.0005087274547674132,
+        4.874621017250637e-05,
+        -0.028747159707244525
+      ],
+      "yaw_degrees_local": -3.3533465850703124,
+      "yaw_radians": -0.05750228352666939,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4191997094413153,
+        8.801345846547214,
+        0.7508829256485762
+      ],
+      "z_min": 0.7403938626613615,
+      "z_max": 0.7508656932976285
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.034528006408232,
+        8.895034684391677,
+        0.7753136972709128
+      ],
+      "rotation_wxyz": [
+        0.13513574807306503,
+        -0.0001312989208173761,
+        -0.0004939032391395151,
+        -0.9908269618923968
+      ],
+      "yaw_degrees_local": -164.52576915352176,
+      "yaw_radians": -2.8704918716534276,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.034528006408232,
+        8.895034684391677,
+        0.8104267716140982
+      ],
+      "z_min": 0.7403475942839819,
+      "z_max": 0.8105737429703527
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.2871412860954776,
+        8.904045601197684,
+        0.7470915583364169
+      ],
+      "rotation_wxyz": [
+        0.5010757666751684,
+        -0.00019927974910212968,
+        0.00047060322761122755,
+        0.865403267194593
+      ],
+      "yaw_degrees_local": 119.79888549911215,
+      "yaw_radians": 2.0919099333081617,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2871412860954776,
+        8.904045601197684,
+        0.7537043626199047
+      ],
+      "z_min": 0.7404331350702607,
+      "z_max": 0.7536587436372362
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.629542545721706,
+        8.62033237733353,
+        0.870502029926228
+      ],
+      "rotation_wxyz": [
+        0.7450351159139044,
+        -0.0004200755946762626,
+        -0.0002910606654938055,
+        -0.6670250481618656
+      ],
+      "yaw_degrees_local": -83.73446328858844,
+      "yaw_radians": -1.460417273529152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.629542545721706,
+        8.62033237733353,
+        1.0006691794409972
+      ],
+      "z_min": 0.7405508668105918,
+      "z_max": 1.00088516584013
+    }
+  ],
+  "variant_index": 42
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0046/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0046/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..a4642c91be3b8d2897251976aabba04f93f0b09c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0046/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7518424405675239535
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.864756517, -0.000406717749, 0.000309451917, 0.502191103)
+            double3 xformOp:translate = (3.2333037339, 8.32749320987, 0.740594313349)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999317664, -0.000509109572, 4.45786962e-05, -0.0369316343)
+            double3 xformOp:translate = (1.93445541605, 8.76014379458, 0.74062376713)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.89893965, -0.000428114528, 0.000279101714, 0.438072192)
+            double3 xformOp:translate = (3.63061915306, 8.65924361882, 0.787889407022)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.706812578, -0.000313621719, 0.000403511132, 0.707400677)
+            double3 xformOp:translate = (2.56465919824, 8.87033879454, 0.75476302184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00368720856, -6.5219947e-05, -0.000506878856, -0.999993072)
+            double3 xformOp:translate = (2.79831812732, 8.27337694696, 0.800006471015)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0775870237, 2.38139527e-05, 0.000510502411, 0.996985453)
+            double3 xformOp:translate = (3.31210832308, 8.50563511622, 0.754806489324)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998582054, -0.000509769154, 3.62660369e-05, -0.0532317683)
+            double3 xformOp:translate = (2.03391677499, 8.72861327721, 0.799641606189)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.312367939, -9.82262167e-05, 0.000501529088, 0.949961057)
+            double3 xformOp:translate = (1.86406352975, 8.57322717869, 0.794732324847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.913280004, -0.000488943567, -0.000148707782, -0.407332019)
+            double3 xformOp:translate = (3.67566860085, 8.30909839239, 0.754238908389)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.483348775, -0.000300572699, -0.00041332296, -0.875427724)
+            double3 xformOp:translate = (2.04156025626, 8.3871412782, 0.749155663615)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0080121853, 0, 0, 0.999967902)
+            double3 xformOp:translate = (4.90638366973, 7.69262265632, 0.990371701037)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.714869698, 0, 0, -0.699257688)
+            double3 xformOp:translate = (4.99153247538, 8.25699887771, 0.974110062876)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.866841812, -0.000471174819, -0.000197924497, -0.498583004)
+            double3 xformOp:translate = (1.73121701398, 8.43980691534, 0.746056629385)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.271743722, -7.68389455e-05, 0.000505248051, 0.962369517)
+            double3 xformOp:translate = (1.82893501384, 8.72096777669, 0.801351392757)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999247615, -0.000509191188, 4.36365687e-05, -0.0387806984)
+            double3 xformOp:translate = (2.23330364251, 8.30003643806, 0.801727080907)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.789288549, -0.000361362174, 0.00036138234, 0.614022251)
+            double3 xformOp:translate = (3.37516553842, 8.82051231911, 0.774449660453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952467024, -0.000463712035, 0.000214827756, 0.304641277)
+            double3 xformOp:translate = (2.96709163019, 8.27237990356, 0.788511464979)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.147100016, -0.00013725815, -0.000492280425, -0.989121491)
+            double3 xformOp:translate = (3.48059929275, 8.33802554349, 0.882490932105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.436747582, -0.0002784708, -0.00042852518, -0.899583953)
+            double3 xformOp:translate = (2.64719863185, 8.26882446127, 0.748727966385)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.811673935, 0, 0, 0.584110797)
+            double3 xformOp:translate = (4.85682478693, 8.13313535883, 0.998909598959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.840116095, -0.000391674538, 0.000328284743, 0.542406384)
+            double3 xformOp:translate = (2.06025073864, 8.21964756771, 0.746884521656)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00599064345, -6.63873495e-05, -0.00050672728, -0.999981925)
+            double3 xformOp:translate = (1.88844569203, 8.37413019229, 0.841278161878)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.159800264, -0.000143573705, -0.000490475695, -0.987149236)
+            double3 xformOp:translate = (3.58649284873, 8.84706958804, 0.80837965987)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.265982469, -7.38154407e-05, 0.000505698623, 0.963977731)
+            double3 xformOp:translate = (3.71381373351, 8.86174794135, 0.746235526008)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991777869, -0.00051105337, -2.06611186e-06, -0.127970296)
+            double3 xformOp:translate = (3.57984193609, 8.44331680069, 0.749770545245)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.765281095, -0.000428864748, -0.000277947557, -0.643696034)
+            double3 xformOp:translate = (1.66388007585, 8.646805815, 0.746423439576)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.675639765, -0.000295923673, 0.000416664128, 0.737231746)
+            double3 xformOp:translate = (2.01163623786, 8.8311202933, 0.740542001584)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982993575, -0.000486858081, 0.000155399565, 0.183639239)
+            double3 xformOp:translate = (1.77023456613, 8.85816983792, 0.786557783801)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.630055291, -0.000368705963, -0.000353886605, -0.776550107)
+            double3 xformOp:translate = (2.4371039982, 8.29315021889, 0.745353993711)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0172825952, 0, 0, 0.999850645)
+            double3 xformOp:translate = (4.89392961004, 8.76017553839, 0.997734780174)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0046/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0046/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..5854e774f0faa5e7787615c7f36c989112e670d2
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0046/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7518424405675239535,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 7,
+    "electronics": 3,
+    "small object": 7,
+    "electronics accessory": 1,
+    "small_electronics": 2,
+    "stationery": 1,
+    "timepiece": 1,
+    "drinkware/container": 1,
+    "office_supply": 2,
+    "writing_instrument": 1,
+    "clock": 1
+  },
+  "failed_sampling_attempt_count": 343,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.2333037339027637,
+        8.32749320987357,
+        0.7405943133486987
+      ],
+      "rotation_wxyz": [
+        0.8647565174785322,
+        -0.0004067177488551382,
+        0.00030945191711560186,
+        0.5021911033646304
+      ],
+      "yaw_degrees_local": 60.23143510625712,
+      "yaw_radians": 1.0522613606708116,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2333037339027637,
+        8.32749320987357,
+        0.7494063807532045
+      ],
+      "z_min": 0.7408980095785198,
+      "z_max": 0.7585221443875314
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.9344554160475145,
+        8.760143794579312,
+        0.7406237671297123
+      ],
+      "rotation_wxyz": [
+        0.99931766381096,
+        -0.0005091095717849929,
+        4.45786962260422e-05,
+        -0.036931634347657574
+      ],
+      "yaw_degrees_local": -4.291727169031276,
+      "yaw_radians": -0.07388010585750246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9344554160475145,
+        8.760143794579312,
+        0.7906238610070279
+      ],
+      "z_min": 0.7406237671297123,
+      "z_max": 0.8406239548843434
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.24223360960676052,
+        0.16745497491389888,
+        0.09493466547313689
+      ],
+      "bbox_min_m": [
+        -0.12108198546656723,
+        -0.08364467007205444,
+        -0.047378184785108
+      ],
+      "bbox_max_m": [
+        0.12115162414019334,
+        0.08381030484184444,
+        0.04755648068802887
+      ],
+      "translation_world": [
+        3.6306191530625527,
+        8.659243618820256,
+        0.7878894070223529
+      ],
+      "rotation_wxyz": [
+        0.8989396495260362,
+        -0.0004281145284499739,
+        0.0002791017140226285,
+        0.4380721919161168
+      ],
+      "yaw_degrees_local": 51.90318477470689,
+      "yaw_radians": 0.9069059264572346,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6306191530625527,
+        8.659243618820256,
+        0.8353567397589213
+      ],
+      "z_min": 0.7405112222372449,
+      "z_max": 0.8354458877103818
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        2.564659198244158,
+        8.870338794540888,
+        0.7547630218399998
+      ],
+      "rotation_wxyz": [
+        0.7068125781829128,
+        -0.00031362171897802337,
+        0.0004035111319723191,
+        0.7074006772279822
+      ],
+      "yaw_degrees_local": 89.98894235325372,
+      "yaw_radians": 1.5716280892461993,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.564659198244158,
+        8.870338794540888,
+        0.7688985047460417
+      ],
+      "z_min": 0.7404321637755361,
+      "z_max": 0.7687031295876199
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.7983181273203352,
+        8.273376946957134,
+        0.8000064710151675
+      ],
+      "rotation_wxyz": [
+        0.0036872085613274767,
+        -6.521994704187774e-05,
+        -0.0005068788560871003,
+        -0.9999930716326034
+      ],
+      "yaw_degrees_local": -179.63618642918104,
+      "yaw_radians": -3.134218286772909,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7983181273203352,
+        8.273376946957134,
+        0.8591327490476877
+      ],
+      "z_min": 0.7410080401744614,
+      "z_max": 0.8592605962395017
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.3121083230809623,
+        8.505635116221375,
+        0.7548064893240108
+      ],
+      "rotation_wxyz": [
+        0.07758702366234198,
+        2.3813952745573296e-05,
+        0.0005105024112528208,
+        0.9969854525415118
+      ],
+      "yaw_degrees_local": 171.04152608605477,
+      "yaw_radians": 2.9862624941680744,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3121083230809623,
+        8.505635116221375,
+        0.768898414615605
+      ],
+      "z_min": 0.7407073552186809,
+      "z_max": 0.7688912058018694
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.0339167749933322,
+        8.72861327720667,
+        0.7996416061885053
+      ],
+      "rotation_wxyz": [
+        0.998582053544202,
+        -0.000509769154430749,
+        3.626603688400187e-05,
+        -0.053231768330841235
+      ],
+      "yaw_degrees_local": -6.161507025641072,
+      "yaw_radians": -0.10651390363882939,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0339167749933322,
+        8.72861327720667,
+        0.8587678842210255
+      ],
+      "z_min": 0.7406431753477992,
+      "z_max": 0.8588957314128395
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        1.8640635297450943,
+        8.573227178690173,
+        0.7947323248471627
+      ],
+      "rotation_wxyz": [
+        0.3123679391041451,
+        -9.82262167310327e-05,
+        0.0005015290884754551,
+        0.9499610568018108
+      ],
+      "yaw_degrees_local": 143.53730148739294,
+      "yaw_radians": 2.506223423355073,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8640635297450943,
+        8.573227178690173,
+        0.8486525271405609
+      ],
+      "z_min": 0.7408222908673365,
+      "z_max": 0.8486626954541329
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        3.675668600845418,
+        8.309098392390299,
+        0.7542389083893865
+      ],
+      "rotation_wxyz": [
+        0.9132800035889169,
+        -0.0004889435672019225,
+        -0.00014870778167995016,
+        -0.4073320191990951
+      ],
+      "yaw_degrees_local": -48.1334095826754,
+      "yaw_radians": -0.839061528727881,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.675668600845418,
+        8.309098392390299,
+        0.7676433457966237
+      ],
+      "z_min": 0.7408606252169513,
+      "z_max": 0.7676695000314259
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        2.041560256255887,
+        8.387141278195207,
+        0.7491556636151705
+      ],
+      "rotation_wxyz": [
+        0.4833487754780922,
+        -0.00030057269873050947,
+        -0.00041332295970363295,
+        -0.8754277240663634
+      ],
+      "yaw_degrees_local": -122.2500117447222,
+      "yaw_radians": -2.1326407259144196,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.041560256255887,
+        8.387141278195207,
+        0.7573916703673111
+      ],
+      "z_min": 0.7409885122470075,
+      "z_max": 0.7574605257512889
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        4.906383669729053,
+        7.692622656319155,
+        0.9903717010365519
+      ],
+      "rotation_wxyz": [
+        -0.00801218529772768,
+        0.0,
+        0.0,
+        0.9999679019282344
+      ],
+      "yaw_degrees_local": 90.91813862798733,
+      "yaw_radians": -3.125568111541671,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.906383669729053,
+        7.692622656319155,
+        1.0605480672684708
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0605527613601695
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        4.9915324753778005,
+        8.256998877712673,
+        0.9741100628761581
+      ],
+      "rotation_wxyz": [
+        0.7148696979876185,
+        0.0,
+        0.0,
+        -0.6992576884804996
+      ],
+      "yaw_degrees_local": -178.73495708467328,
+      "yaw_radians": -1.548717162743418,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9915324753778005,
+        8.256998877712673,
+        1.0280302651695563
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0280404334831281
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        1.7312170139772722,
+        8.439806915340895,
+        0.7460566293852997
+      ],
+      "rotation_wxyz": [
+        0.8668418118764039,
+        -0.0004711748187104084,
+        -0.00019792449685050706,
+        -0.4985830041257095
+      ],
+      "yaw_degrees_local": -59.871312034597864,
+      "yaw_radians": -1.0439265805493554,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7312170139772722,
+        8.439806915340895,
+        0.7511862320813777
+      ],
+      "z_min": 0.7409744162882347,
+      "z_max": 0.7512336216803905
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.8289350138442866,
+        8.72096777669226,
+        0.8013513927568244
+      ],
+      "rotation_wxyz": [
+        0.2717437224182737,
+        -7.683894551084191e-05,
+        0.0005052480506573919,
+        0.9623695174653258
+      ],
+      "yaw_degrees_local": 148.40517560354067,
+      "yaw_radians": 2.5911838280117725,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8289350138442866,
+        8.72096777669226,
+        0.861978259212084
+      ],
+      "z_min": 0.7406769019547421,
+      "z_max": 0.8619306348652613
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.2333036425137753,
+        8.300036438058193,
+        0.8017270809066196
+      ],
+      "rotation_wxyz": [
+        0.9992476150855495,
+        -0.0005091911881696726,
+        4.363656873162273e-05,
+        -0.03878069836949364
+      ],
+      "yaw_degrees_local": -4.503766346116208,
+      "yaw_radians": -0.07758088571682482,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2333036425137753,
+        8.300036438058193,
+        0.8623539473618792
+      ],
+      "z_min": 0.7410525901045373,
+      "z_max": 0.8623063230150565
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.375165538419113,
+        8.820512319106365,
+        0.7744496604531779
+      ],
+      "rotation_wxyz": [
+        0.7892885493471331,
+        -0.00036136217403136164,
+        0.0003613823396620822,
+        0.6140222509727823
+      ],
+      "yaw_degrees_local": 75.7031204451657,
+      "yaw_radians": 1.322293331699455,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.375165538419113,
+        8.820512319106365,
+        0.8084482166238567
+      ],
+      "z_min": 0.7403800176395521,
+      "z_max": 0.8083771299809097
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        2.9670916301886754,
+        8.272379903562667,
+        0.7885114649790166
+      ],
+      "rotation_wxyz": [
+        0.9524670237043661,
+        -0.00046371203500064005,
+        0.00021482775620454121,
+        0.30464127687483616
+      ],
+      "yaw_degrees_local": 35.41446151172687,
+      "yaw_radians": 0.6191233860626355,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9670916301886754,
+        8.272379903562667,
+        0.8360349421792603
+      ],
+      "z_min": 0.740987661622159,
+      "z_max": 0.8360346160226466
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.4805992927507976,
+        8.338025543492593,
+        0.8824909321046135
+      ],
+      "rotation_wxyz": [
+        0.14710001616452162,
+        -0.00013725814956646096,
+        -0.0004922804247762688,
+        -0.9891214910538451
+      ],
+      "yaw_degrees_local": -163.14089729548073,
+      "yaw_radians": -2.846321306671781,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4805992927507976,
+        8.338025543492593,
+        1.0240517193003649
+      ],
+      "z_min": 0.7408560688654929,
+      "z_max": 1.0239776432569958
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        2.647198631847212,
+        8.268824461274496,
+        0.748727966385307
+      ],
+      "rotation_wxyz": [
+        0.4367475821340704,
+        -0.000278470800235563,
+        -0.00042852517972282307,
+        -0.8995839529028001
+      ],
+      "yaw_degrees_local": -128.26560819790248,
+      "yaw_radians": -2.237632720981188,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.647198631847212,
+        8.268824461274496,
+        0.7565828727291076
+      ],
+      "z_min": 0.7410317776630867,
+      "z_max": 0.7567415903506879
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        4.856824786931156,
+        8.13313535882962,
+        0.9989095989589569
+      ],
+      "rotation_wxyz": [
+        0.81167393513334,
+        0.0,
+        0.0,
+        0.5841107968743249
+      ],
+      "yaw_degrees_local": -18.519606602119524,
+      "yaw_radians": 1.2475682154138317,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.856824786931156,
+        8.13313535882962,
+        1.0776202617835788
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0776213545455757
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        2.0602507386419404,
+        8.21964756770833,
+        0.7468845216559836
+      ],
+      "rotation_wxyz": [
+        0.8401160951818782,
+        -0.00039167453764633533,
+        0.00032828474347712544,
+        0.5424063840300346
+      ],
+      "yaw_degrees_local": 65.63650437083606,
+      "yaw_radians": 1.1465976534536886,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0602507386419404,
+        8.21964756770833,
+        0.7525116485462024
+      ],
+      "z_min": 0.741156020378779,
+      "z_max": 0.7524102741592167
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.8884456920250323,
+        8.374130192287602,
+        0.8412781618781637
+      ],
+      "rotation_wxyz": [
+        0.0059906434525142885,
+        -6.638734950580464e-05,
+        -0.0005067272797727656,
+        -0.9999819253422578
+      ],
+      "yaw_degrees_local": -179.37222905072863,
+      "yaw_radians": -3.1296113637545946,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8884456920250323,
+        8.374130192287602,
+        0.9414950419408137
+      ],
+      "z_min": 0.7410211563998852,
+      "z_max": 0.9414549165251852
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.5864928487349097,
+        8.847069588038167,
+        0.8083796598698944
+      ],
+      "rotation_wxyz": [
+        0.15980026421324572,
+        -0.00014357370457804036,
+        -0.0004904756952123624,
+        -0.9871492361226648
+      ],
+      "yaw_degrees_local": -161.66810192381135,
+      "yaw_radians": -2.8206161869385324,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5864928487349097,
+        8.847069588038167,
+        0.8764350034234802
+      ],
+      "z_min": 0.7403263247475849,
+      "z_max": 0.8764370118547565
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.713813733513174,
+        8.861747941348208,
+        0.746235526007519
+      ],
+      "rotation_wxyz": [
+        0.2659824688838579,
+        -7.381544074004819e-05,
+        0.0005056986226485741,
+        0.9639777305864651
+      ],
+      "yaw_degrees_local": 149.0906065991545,
+      "yaw_radians": 2.603146851510957,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.713813733513174,
+        8.861747941348208,
+        0.7520527387740913
+      ],
+      "z_min": 0.7402952733452093,
+      "z_max": 0.7519296988783539
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.5798419360909732,
+        8.443316800690871,
+        0.7497705452447195
+      ],
+      "rotation_wxyz": [
+        0.9917778693528462,
+        -0.0005110533704243658,
+        -2.066111857720667e-06,
+        -0.12797029609293345
+      ],
+      "yaw_degrees_local": -14.763350729107458,
+      "yaw_radians": -0.25664432039088064,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5798419360909732,
+        8.443316800690871,
+        0.7586037913482018
+      ],
+      "z_min": 0.7407366356649202,
+      "z_max": 0.7584031278718847
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.6638800758489598,
+        8.646805814995489,
+        0.7464234395756335
+      ],
+      "rotation_wxyz": [
+        0.7652810949306063,
+        -0.000428864747973504,
+        -0.00027794755653888286,
+        -0.6436960342910281
+      ],
+      "yaw_degrees_local": -80.19468073084336,
+      "yaw_radians": -1.398636385283081,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6638800758489598,
+        8.646805814995489,
+        0.7520722907889156
+      ],
+      "z_min": 0.7407730033058466,
+      "z_max": 0.7520707057324109
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.0116362378602153,
+        8.83112029329635,
+        0.7405420015842777
+      ],
+      "rotation_wxyz": [
+        0.6756397646241552,
+        -0.00029592367339810677,
+        0.00041666412824106086,
+        0.7372317459786983
+      ],
+      "yaw_degrees_local": 94.93357321578316,
+      "yaw_radians": 1.657928220591394,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0116362378602153,
+        8.83112029329635,
+        0.7905420954615933
+      ],
+      "z_min": 0.7405420015842777,
+      "z_max": 0.8405421893389088
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        1.7702345661318284,
+        8.858169837920173,
+        0.7865577838007729
+      ],
+      "rotation_wxyz": [
+        0.9829935752094598,
+        -0.0004868580812730943,
+        0.00015539956544145697,
+        0.18363923850067623
+      ],
+      "yaw_degrees_local": 21.10490712320032,
+      "yaw_radians": 0.36937458978221865,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7702345661318284,
+        8.858169837920173,
+        0.8327561983016527
+      ],
+      "z_min": 0.7405451769631561,
+      "z_max": 0.8329420059649159
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.4371039982024256,
+        8.293150218888213,
+        0.7453539937114751
+      ],
+      "rotation_wxyz": [
+        0.630055291303045,
+        -0.0003687059629941033,
+        -0.0003538866048509092,
+        -0.7765501070254379
+      ],
+      "yaw_degrees_local": -101.95029438586135,
+      "yaw_radians": -1.7783436635844394,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4371039982024256,
+        8.293150218888213,
+        0.7494905950716022
+      ],
+      "z_min": 0.7410337231590077,
+      "z_max": 0.7493069258792618
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        4.893929610038745,
+        8.760175538385587,
+        0.9977347801741776
+      ],
+      "rotation_wxyz": [
+        -0.017282595201696727,
+        0.0,
+        0.0,
+        0.999850644798059
+      ],
+      "yaw_degrees_local": 91.98053813038649,
+      "yaw_radians": -3.1070257422532563,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.893929610038745,
+        8.760175538385587,
+        1.0754416140076102
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0756136965631968
+    }
+  ],
+  "variant_index": 46
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0052/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0052/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..d2f3e5a462e177a1df0ea7f5b6c2ba8359c88ab1
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0052/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4188453059805379325
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.805473493, -0.000446011994, -0.000249505747, -0.592631581)
+            double3 xformOp:translate = (1.80236835234, 8.64825401087, 0.740753984928)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0198660791, 5.32636275e-05, 0.000508274338, 0.999802519)
+            double3 xformOp:translate = (2.31375075319, 8.18667056387, 0.741157344989)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.829634892, -0.000385352097, 0.000335683746, 0.558306086)
+            double3 xformOp:translate = (3.37960327887, 8.84669137869, 0.779224056204)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.74768026, -0.00033709211, 0.000384120718, 0.664058708)
+            double3 xformOp:translate = (3.52715780667, 8.50820855477, 0.745964704694)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.835299825, -0.000458423647, -0.000225892842, -0.549794454)
+            double3 xformOp:translate = (1.96822053406, 8.85370095237, 0.747942587939)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.871538089, -0.000410908355, 0.000303865332, 0.490327543)
+            double3 xformOp:translate = (2.02890936403, 8.70098284219, 0.804920308944)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999882608, -0.000506086293, 7.1108931e-05, 0.015313705)
+            double3 xformOp:translate = (2.55180697874, 8.18562343683, 0.836001790889)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956710025, -0.000466725226, 0.000208200335, 0.291042381)
+            double3 xformOp:translate = (3.64803597353, 8.68621473561, 0.767080882251)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.710639583, -0.000315806013, 0.000401803905, 0.703556054)
+            double3 xformOp:translate = (2.16594875078, 8.26641352719, 0.754540940683)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.460988848, -0.000177557162, 0.000479221525, 0.887405781)
+            double3 xformOp:translate = (3.05329417205, 8.20578484187, 0.800042719353)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997624393, -0.00050154727, 9.81333395e-05, 0.0688862013)
+            double3 xformOp:translate = (2.01545222735, 8.30221870434, 0.76123918419)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.207073289, -0.000166987608, -0.000483006164, -0.9783253)
+            double3 xformOp:translate = (1.7503270909, 8.37165653611, 0.805289618967)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.406091909, -0.000148043926, 0.000489144981, 0.913832096)
+            double3 xformOp:translate = (2.78642688813, 8.2190417618, 0.818432182264)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.246390402, -6.35510243e-05, 0.000507090804, 0.969170526)
+            double3 xformOp:translate = (3.04568296335, 8.32797514958, 0.788017565577)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.743599365, -0.000419448876, -0.000291963108, -0.668625248)
+            double3 xformOp:translate = (1.76125963689, 8.86656939587, 0.840794828808)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.540168196, -0.000220614822, 0.000460986894, 0.841556926)
+            double3 xformOp:translate = (3.64379088028, 8.39820355514, 0.746714539614)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.770558067, -0.000350384581, 0.000372035565, 0.637369597)
+            double3 xformOp:translate = (3.28029246851, 8.28988289835, 0.747588628544)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.717199413, -0.000319556312, 0.000398827757, 0.696867807)
+            double3 xformOp:translate = (3.58646153606, 8.39071974698, 0.746478941561)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982647726, -0.000510066661, -3.18090844e-05, -0.185480955)
+            double3 xformOp:translate = (3.4401556325, 8.59650758572, 0.745955688365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.14678971, -1.17750995e-05, 0.000510921876, 0.989167589)
+            double3 xformOp:translate = (1.80506689971, 8.18764114736, 0.818588369187)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.901251117, -0.000484488413, -0.000162637, -0.433296853)
+            double3 xformOp:translate = (3.11900094196, 8.89094037067, 0.745704491337)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999803832, 0, 0, -0.0198064919)
+            double3 xformOp:translate = (4.91555816432, 8.05373000491, 0.927618012589)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.310782989, -0.000217816486, -0.000462315687, -0.950480759)
+            double3 xformOp:translate = (3.24175290435, 8.44701935351, 0.840995250872)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.738405434, -0.00041717805, -0.000295198731, -0.674356845)
+            double3 xformOp:translate = (2.09094427803, 8.88757329532, 0.813246953531)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983932897, -0.000487657597, 0.000152872117, 0.178537931)
+            double3 xformOp:translate = (3.40613898306, 8.22765266136, 0.750999070499)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.757701917, -0.000425585335, -0.000282943349, -0.6526006)
+            double3 xformOp:translate = (3.69118604548, 8.54203819464, 0.772454306418)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93266751, -0.000450117702, 0.000242020392, 0.360736822)
+            double3 xformOp:translate = (1.87960532292, 8.80636061704, 0.77465350272)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94500212, -0.000499945324, -0.000105992875, -0.327063804)
+            double3 xformOp:translate = (2.87435905003, 8.23312346399, 0.780396295337)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.136650215, -0.000132053771, -0.000493701952, -0.990619229)
+            double3 xformOp:translate = (3.70496830231, 8.26728949165, 0.756104994915)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998004058, -0.000502103337, 9.52473358e-05, 0.0631477589)
+            double3 xformOp:translate = (2.52456347584, 8.32603451151, 0.746352752929)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0052/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0052/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b754d01c7aae55a4d4882b9ab1269863c6f721
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0052/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4188453059805379325,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 6,
+    "clock": 2,
+    "office_supplies": 2,
+    "book": 1,
+    "paper_goods": 2,
+    "drinkware/container": 1,
+    "office_supply": 5,
+    "small object": 4
+  },
+  "failed_sampling_attempt_count": 163,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.8023683523402696,
+        8.648254010871373,
+        0.7407539849276329
+      ],
+      "rotation_wxyz": [
+        0.805473493114199,
+        -0.00044601199352943836,
+        -0.00024950574716468734,
+        -0.5926315809257843
+      ],
+      "yaw_degrees_local": -72.74667423462401,
+      "yaw_radians": -1.2686440984365006,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8023683523402696,
+        8.648254010871373,
+        0.9182539795632149
+      ],
+      "z_min": 0.7407539849276329,
+      "z_max": 1.095753974198797
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.3137507531944874,
+        8.186670563868999,
+        0.7411573449889776
+      ],
+      "rotation_wxyz": [
+        0.019866079111924645,
+        5.326362745087477e-05,
+        0.0005082743375688832,
+        0.9998025193611499
+      ],
+      "yaw_degrees_local": 177.66465453960842,
+      "yaw_radians": 3.1018578323033026,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3137507531944874,
+        8.186670563868999,
+        0.7911574388662931
+      ],
+      "z_min": 0.7411573449889776,
+      "z_max": 0.8411575327436086
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.3796032788708934,
+        8.84669137869359,
+        0.7792240562044936
+      ],
+      "rotation_wxyz": [
+        0.8296348918014883,
+        -0.0003853520974382559,
+        0.00033568374586841345,
+        0.5583060855173592
+      ],
+      "yaw_degrees_local": 67.81876571548466,
+      "yaw_radians": 1.1846853158907342,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3796032788708934,
+        8.84669137869359,
+        0.8181714877395003
+      ],
+      "z_min": 0.7403529062363726,
+      "z_max": 0.8182477693063861
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.527157806671307,
+        8.508208554769796,
+        0.7459647046942551
+      ],
+      "rotation_wxyz": [
+        0.7476802601541694,
+        -0.0003370921099272652,
+        0.0003841207175681847,
+        0.6640587077932022
+      ],
+      "yaw_degrees_local": 83.16160784350046,
+      "yaw_radians": 1.4524685613516108,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.527157806671307,
+        8.508208554769796,
+        0.7512656953253686
+      ],
+      "z_min": 0.7406774935409874,
+      "z_max": 0.7512794748032144
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        1.9682205340557801,
+        8.8537009523735,
+        0.74794258793934
+      ],
+      "rotation_wxyz": [
+        0.8352998246434634,
+        -0.00045842364689135235,
+        -0.00022589284231941772,
+        -0.5497944541106097
+      ],
+      "yaw_degrees_local": -66.76454588118155,
+      "yaw_radians": -1.1642362310483287,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9682205340557801,
+        8.8537009523735,
+        0.7554824905824394
+      ],
+      "z_min": 0.7405246042464282,
+      "z_max": 0.7556044095326271
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.0289093640296447,
+        8.700982842192571,
+        0.8049203089443228
+      ],
+      "rotation_wxyz": [
+        0.8715380885133578,
+        -0.0004109083547557013,
+        0.0003038653323962365,
+        0.4903275426596659
+      ],
+      "yaw_degrees_local": 58.665522551012174,
+      "yaw_radians": 1.0249310210017912,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0289093640296447,
+        8.700982842192571,
+        0.8691092630320433
+      ],
+      "z_min": 0.7406718362110563,
+      "z_max": 0.8690497443864973
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.5518069787369684,
+        8.185623436834918,
+        0.8360017908889362
+      ],
+      "rotation_wxyz": [
+        0.9998826077389568,
+        -0.0005060862932127311,
+        7.110893096166019e-05,
+        0.015313705016337427
+      ],
+      "yaw_degrees_local": 1.6961797365162,
+      "yaw_radians": 0.030628531599819864,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5518069787369684,
+        8.185623436834918,
+        0.9308986369531398
+      ],
+      "z_min": 0.7411282945865215,
+      "z_max": 0.9309219867149288
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.648035973528197,
+        8.686214735607464,
+        0.7670808822506466
+      ],
+      "rotation_wxyz": [
+        0.9567100246867191,
+        -0.0004667252259538897,
+        0.0002082003354910919,
+        0.2910423809071827
+      ],
+      "yaw_degrees_local": 33.78203843406774,
+      "yaw_radians": 0.5906322302422151,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.648035973528197,
+        8.686214735607464,
+        0.7936553669067207
+      ],
+      "z_min": 0.7404816496779809,
+      "z_max": 0.7936306189901289
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        2.165948750781279,
+        8.2664135271895,
+        0.7545409406833493
+      ],
+      "rotation_wxyz": [
+        0.7106395834224453,
+        -0.00031580601336347007,
+        0.0004018039051126611,
+        0.7035560541231646
+      ],
+      "yaw_degrees_local": 89.36731957541474,
+      "yaw_radians": 1.5607787195619427,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.165948750781279,
+        8.2664135271895,
+        0.7680856900559465
+      ],
+      "z_min": 0.7410952008124795,
+      "z_max": 0.768184699557674
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.0532941720499087,
+        8.205784841871385,
+        0.8000427193525356
+      ],
+      "rotation_wxyz": [
+        0.4609888484651973,
+        -0.00017755716202063352,
+        0.0004792215254509037,
+        0.8874057811457594
+      ],
+      "yaw_degrees_local": 125.03941278279757,
+      "yaw_radians": 2.1833743978915456,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0532941720499087,
+        8.205784841871385,
+        0.8591689973850557
+      ],
+      "z_min": 0.7410442885118295,
+      "z_max": 0.8592968445768697
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        2.015452227349809,
+        8.302218704341193,
+        0.761239184189569
+      ],
+      "rotation_wxyz": [
+        0.9976243932940391,
+        -0.0005015472698723291,
+        9.813333951275537e-05,
+        0.06888620126617868
+      ],
+      "yaw_degrees_local": 7.841324249978641,
+      "yaw_radians": 0.13788148524652974,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.015452227349809,
+        8.302218704341193,
+        0.7812698138741776
+      ],
+      "z_min": 0.7410779576357341,
+      "z_max": 0.7811392170049513
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        1.7503270908975095,
+        8.371656536105023,
+        0.8052896189669472
+      ],
+      "rotation_wxyz": [
+        0.2070732887258094,
+        -0.00016698760843467906,
+        -0.0004830061644219243,
+        -0.9783252996403914
+      ],
+      "yaw_degrees_local": -156.15691846690535,
+      "yaw_radians": -2.7244279175986987,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7503270908975095,
+        8.371656536105023,
+        0.8694785730546677
+      ],
+      "z_min": 0.7410411462336808,
+      "z_max": 0.8694190544091217
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.7864268881345358,
+        8.219041761799,
+        0.8184321822635982
+      ],
+      "rotation_wxyz": [
+        0.4060919086074346,
+        -0.00014804392642568876,
+        0.000489144980643549,
+        0.9138320964946213
+      ],
+      "yaw_degrees_local": 132.02214319838862,
+      "yaw_radians": 2.305246032848679,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7864268881345358,
+        8.219041761799,
+        0.8958139373969376
+      ],
+      "z_min": 0.7410646648962148,
+      "z_max": 0.8958281751628937
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.0456829633453295,
+        8.327975149580148,
+        0.7880175655772499
+      ],
+      "rotation_wxyz": [
+        0.2463904015101092,
+        -6.355102433355519e-05,
+        0.0005070908040444714,
+        0.9691705262046876
+      ],
+      "yaw_degrees_local": 151.4132517190152,
+      "yaw_radians": 2.6436846412747217,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0456829633453295,
+        8.327975149580148,
+        0.8351233162638824
+      ],
+      "z_min": 0.7409213173014353,
+      "z_max": 0.8351328186747002
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.7612596368891502,
+        8.866569395874178,
+        0.8407948288081717
+      ],
+      "rotation_wxyz": [
+        0.7435993652144,
+        -0.00041944887614596725,
+        -0.00029196310818354715,
+        -0.6686252484560581
+      ],
+      "yaw_degrees_local": -83.98082245621767,
+      "yaw_radians": -1.464717054154283,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7612596368891502,
+        8.866569395874178,
+        0.9410117088708216
+      ],
+      "z_min": 0.7405378233298932,
+      "z_max": 0.9409715834551932
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.6437908802839836,
+        8.398203555137314,
+        0.7467145396136151
+      ],
+      "rotation_wxyz": [
+        0.5401681956073661,
+        -0.00022061482227681077,
+        0.0004609868939916664,
+        0.8415569257480248
+      ],
+      "yaw_degrees_local": 114.55110120910945,
+      "yaw_radians": 2.0003188016650815,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6437908802839836,
+        8.398203555137314,
+        0.7525317523801874
+      ],
+      "z_min": 0.7407742869513054,
+      "z_max": 0.7524087124844501
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.280292468507004,
+        8.289882898348223,
+        0.747588628544237
+      ],
+      "rotation_wxyz": [
+        0.770558067315925,
+        -0.00035038458063481174,
+        0.0003720355653612699,
+        0.6373695974193704
+      ],
+      "yaw_degrees_local": 79.1332129090776,
+      "yaw_radians": 1.3821597695416188,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.280292468507004,
+        8.289882898348223,
+        0.7542014328277248
+      ],
+      "z_min": 0.7409302052780807,
+      "z_max": 0.7541558138450563
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.5864615360617798,
+        8.390719746977863,
+        0.7464789415609944
+      ],
+      "rotation_wxyz": [
+        0.7171994131857035,
+        -0.0003195563117928858,
+        0.0003988277571002808,
+        0.696867807081276
+      ],
+      "yaw_degrees_local": 88.29379370571206,
+      "yaw_radians": 1.5420421489582095,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5864615360617798,
+        8.390719746977863,
+        0.7523099925857806
+      ],
+      "z_min": 0.7407891408316697,
+      "z_max": 0.7524512428812421
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        3.440155632499386,
+        8.596507585720948,
+        0.7459556883651041
+      ],
+      "rotation_wxyz": [
+        0.982647726308303,
+        -0.0005100666607346804,
+        -3.180908435156727e-05,
+        -0.18548095536012923
+      ],
+      "yaw_degrees_local": -21.43706209891687,
+      "yaw_radians": -0.37312250077352527,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.440155632499386,
+        8.596507585720948,
+        0.751270809865185
+      ],
+      "z_min": 0.7405989611318244,
+      "z_max": 0.7512292041319862
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.8050668997137516,
+        8.187641147358475,
+        0.8185883691872178
+      ],
+      "rotation_wxyz": [
+        0.1467897098370312,
+        -1.1775099508977882e-05,
+        0.0005109218758987192,
+        0.989167589393296
+      ],
+      "yaw_degrees_local": 163.0594251824475,
+      "yaw_radians": 2.846948623244147,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8050668997137516,
+        8.187641147358475,
+        0.8959701243205572
+      ],
+      "z_min": 0.7412208518198344,
+      "z_max": 0.8959843620865133
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.119000941956631,
+        8.890940370674265,
+        0.7457044913366973
+      ],
+      "rotation_wxyz": [
+        0.9012511168242805,
+        -0.00048448841315611965,
+        -0.00016263699996549901,
+        -0.4332968534886574
+      ],
+      "yaw_degrees_local": -51.41265649808338,
+      "yaw_radians": -0.8962951818806855,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.119000941956631,
+        8.890940370674265,
+        0.751039932031698
+      ],
+      "z_min": 0.7403410285898872,
+      "z_max": 0.7510119099798888
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        4.915558164318544,
+        8.053730004906665,
+        0.9276180125892436
+      ],
+      "rotation_wxyz": [
+        0.9998038321991947,
+        0.0,
+        0.0,
+        -0.019806491860115294
+      ],
+      "yaw_degrees_local": -92.26980520392912,
+      "yaw_radians": -0.039615574187464815,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.915558164318544,
+        8.053730004906665,
+        0.935157915232343
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9352798341825307
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.2417529043545423,
+        8.447019353507429,
+        0.8409952508717213
+      ],
+      "rotation_wxyz": [
+        0.3107829893606147,
+        -0.00021781648562634593,
+        -0.0004623156874146717,
+        -0.9504807585344713
+      ],
+      "yaw_degrees_local": -143.845858743269,
+      "yaw_radians": -2.509559421045446,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2417529043545423,
+        8.447019353507429,
+        0.9410839519637344
+      ],
+      "z_min": 0.740775764307526,
+      "z_max": 0.940953166491552
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.090944278033036,
+        8.887573295320765,
+        0.813246953530733
+      ],
+      "rotation_wxyz": [
+        0.7384054338151668,
+        -0.00041717805040242196,
+        -0.00029519873052360313,
+        -0.6743568448028234
+      ],
+      "yaw_degrees_local": -84.86717489844835,
+      "yaw_radians": -1.4801868298969536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.090944278033036,
+        8.887573295320765,
+        0.8861093981374767
+      ],
+      "z_min": 0.7404747347288565,
+      "z_max": 0.8861996239423439
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.406138983056409,
+        8.227652661361256,
+        0.7509990704987839
+      ],
+      "rotation_wxyz": [
+        0.9839328971575362,
+        -0.00048765759704131424,
+        0.00015287211743219818,
+        0.17853793073563223
+      ],
+      "yaw_degrees_local": 20.510512256490983,
+      "yaw_radians": 0.3590004453334433,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.406138983056409,
+        8.227652661361256,
+        0.7610364214796026
+      ],
+      "z_min": 0.7409773780492818,
+      "z_max": 0.7610520800109192
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        3.6911860454777377,
+        8.542038194639309,
+        0.7724543064178422
+      ],
+      "rotation_wxyz": [
+        0.757701917393844,
+        -0.0004255853351919406,
+        -0.0002829433489408723,
+        -0.6526006000593905
+      ],
+      "yaw_degrees_local": -81.53465161497336,
+      "yaw_radians": -1.4220232993794044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6911860454777377,
+        8.542038194639309,
+        0.8043055241613141
+      ],
+      "z_min": 0.7406224137359234,
+      "z_max": 0.8043248492228672
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.8796053229225302,
+        8.806360617036647,
+        0.7746535027197351
+      ],
+      "rotation_wxyz": [
+        0.932667509796541,
+        -0.0004501177022701043,
+        0.0002420203924122807,
+        0.3607368223374252
+      ],
+      "yaw_degrees_local": 42.2322027609639,
+      "yaw_radians": 0.7381154205808538,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8796053229225302,
+        8.806360617036647,
+        0.8086520588904139
+      ],
+      "z_min": 0.7405838599061093,
+      "z_max": 0.808580972247467
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.874359050032293,
+        8.233123463986137,
+        0.78039629533659
+      ],
+      "rotation_wxyz": [
+        0.945002120176064,
+        -0.0004999453235975382,
+        -0.0001059928754835219,
+        -0.32706380368809945
+      ],
+      "yaw_degrees_local": -38.240029380662094,
+      "yaw_radians": -0.6663894977634045,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.874359050032293,
+        8.233123463986137,
+        0.8196363701764813
+      ],
+      "z_min": 0.7410392218221795,
+      "z_max": 0.819519371501962
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.704968302307351,
+        8.267289491654227,
+        0.7561049949145962
+      ],
+      "rotation_wxyz": [
+        0.13665021456044074,
+        -0.00013205377097274341,
+        -0.0004937019524087288,
+        -0.9906192294119721
+      ],
+      "yaw_degrees_local": -164.3505990753754,
+      "yaw_radians": -2.8674345781585027,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.704968302307351,
+        8.267289491654227,
+        0.7712734718671276
+      ],
+      "z_min": 0.7408993177989328,
+      "z_max": 0.7712362717039957
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.5245634758364788,
+        8.326034511508976,
+        0.7463527529292261
+      ],
+      "rotation_wxyz": [
+        0.9980040577894791,
+        -0.000502103337238741,
+        9.524733578442906e-05,
+        0.06314775891445325
+      ],
+      "yaw_degrees_local": 7.18230854721304,
+      "yaw_radians": 0.12637949664612255,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5245634758364788,
+        8.326034511508976,
+        0.7516881936242269
+      ],
+      "z_min": 0.740989290182416,
+      "z_max": 0.7516601715724176
+    }
+  ],
+  "variant_index": 52
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0055/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0055/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..3395ab3434ffce93dc603282a2f6172b02b5c97a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0055/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 951384159199441832
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.340164968, -0.000112930409, 0.000498424055, 0.940365638)
+            double3 xformOp:translate = (3.3243951621, 8.4534814779, 0.740758686996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994562935, -0.000510955806, 1.01970754e-05, -0.104136)
+            double3 xformOp:translate = (3.55826336958, 8.69243088818, 0.740183009063)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999347233, -0.000509073318, 4.49908067e-05, -0.0361226729)
+            double3 xformOp:translate = (3.61929206834, 8.3896797998, 0.750335567175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.736744189, -0.000330778909, 0.000389570442, 0.676171383)
+            double3 xformOp:translate = (2.38732640236, 8.30657323239, 0.746313627642)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.935741452, 0, 0, -0.352686738)
+            double3 xformOp:translate = (4.85862898662, 8.75482447118, 0.932716584791)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.784657593, -0.000437185237, -0.000264667499, -0.61992919)
+            double3 xformOp:translate = (2.00463296668, 8.66352461792, 0.821902600737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.38514019, -0.000136847184, 0.000492394826, 0.922857937)
+            double3 xformOp:translate = (3.50938623319, 8.26224706391, 0.775895325768)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.2879673, -8.53657913e-05, 0.000503877463, 0.957640106)
+            double3 xformOp:translate = (2.65664313288, 8.30552630685, 0.841212891736)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.659281111, 0, 0, 0.751896546)
+            double3 xformOp:translate = (4.98532835161, 8.09786524682, 0.967723832253)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999999533, 0, 0, -0.000966248177)
+            double3 xformOp:translate = (4.92025344139, 8.21847360633, 0.92548724005)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.578801795, -0.000241859278, 0.000450204293, 0.815468099)
+            double3 xformOp:translate = (3.1899501495, 8.22053366102, 0.811183693296)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.704866501, -0.000312511988, 0.000404371208, 0.709339802)
+            double3 xformOp:translate = (1.89334711347, 8.79998957738, 0.87053979372)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.406600674, -0.000148316263, 0.000489062473, 0.91360584)
+            double3 xformOp:translate = (1.97528476912, 8.31662416272, 0.749465036424)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.372683785, -0.000247780554, -0.000446972721, -0.927958262)
+            double3 xformOp:translate = (2.14212330517, 8.28006414876, 0.751106065284)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0960512882, 1.43484861e-05, 0.000510856083, 0.995376255)
+            double3 xformOp:translate = (3.32888110652, 8.25785434125, 0.841176068873)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.398189756, -0.000260040018, -0.000439953413, -0.917302926)
+            double3 xformOp:translate = (3.05802676226, 8.87378194763, 0.766965400377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999967846, -0.000507606638, 5.92901148e-05, -0.00800288727)
+            double3 xformOp:translate = (1.79638017125, 8.59932789588, 0.775411173605)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991478269, -0.000494541701, 0.000128873281, 0.13027118)
+            double3 xformOp:translate = (3.26283507856, 8.36993419958, 0.805099729359)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.889495168, -0.000422129523, 0.000288073744, 0.456944291)
+            double3 xformOp:translate = (2.62545906955, 8.87764864428, 0.787840113338)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.631223165, -0.000270968588, 0.00043330802, 0.775601093)
+            double3 xformOp:translate = (1.81893102595, 8.20205249141, 0.813976695172)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.566187769, -0.000339341193, -0.000382135278, -0.824276136)
+            double3 xformOp:translate = (3.189870239, 8.86313707232, 0.775326366821)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992631143, -0.000511055534, 1.43442487e-06, -0.121174057)
+            double3 xformOp:translate = (3.74492699963, 8.77335659388, 0.786971235707)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.853229072, -0.000465725671, -0.000210426745, -0.521536086)
+            double3 xformOp:translate = (3.71131588812, 8.57937578645, 0.787905057282)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.188890974, -3.35795238e-05, 0.000509953166, 0.981997932)
+            double3 xformOp:translate = (2.78418355705, 8.84991197045, 0.83529860571)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997522797, -0.000510315936, 2.75220217e-05, -0.0703420773)
+            double3 xformOp:translate = (3.39113378612, 8.69612675916, 0.788083960451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0218040564, -7.43926595e-05, -0.000505614031, -0.999762133)
+            double3 xformOp:translate = (2.8844150521, 8.30289433458, 0.787544086957)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998579758, -0.000509770717, 3.62440663e-05, -0.0532748062)
+            double3 xformOp:translate = (2.35955418936, 8.15912421722, 0.747119735799)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.928014638, -0.000447010205, 0.000247712925, 0.372543381)
+            double3 xformOp:translate = (2.48203515584, 8.28585912939, 0.806339770527)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.461194352, 0, 0, 0.887299143)
+            double3 xformOp:translate = (4.9896922247, 8.35831854601, 0.925889829626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.787991498, -0.000360599025, 0.000362143838, 0.615685908)
+            double3 xformOp:translate = (1.91670629332, 8.61209698432, 0.821965900706)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0055/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0055/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3cbb3537b055479ca10ed1b2adb131968385c92
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0055/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 951384159199441832,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 5,
+    "book": 2,
+    "office_supplies": 3,
+    "clock": 5,
+    "drinkware": 6,
+    "small object": 6,
+    "office_supply": 2,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 239,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.3243951620970176,
+        8.453481477895872,
+        0.7407586869957459
+      ],
+      "rotation_wxyz": [
+        0.34016496814679387,
+        -0.00011293040868784246,
+        0.0004984240554326301,
+        0.9403656380716359
+      ],
+      "yaw_degrees_local": 140.16743389486317,
+      "yaw_radians": 2.4474081529543645,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3243951620970176,
+        8.453481477895872,
+        0.9182586816313278
+      ],
+      "z_min": 0.7407586869957459,
+      "z_max": 1.0957586762669098
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.5582633695843326,
+        8.692430888178505,
+        0.7401830090626939
+      ],
+      "rotation_wxyz": [
+        0.9945629353111575,
+        -0.0005109558062046646,
+        1.019707536766393e-05,
+        -0.10413600014134476
+      ],
+      "yaw_degrees_local": -12.01349223756884,
+      "yaw_radians": -0.2086502602238539,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5582633695843326,
+        8.692430888178505,
+        0.7489950764671996
+      ],
+      "z_min": 0.7404867052925149,
+      "z_max": 0.7581108401015265
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.6192920683359397,
+        8.389679799799392,
+        0.7503355671745043
+      ],
+      "rotation_wxyz": [
+        0.9993472326081861,
+        -0.0005090733184473299,
+        4.4990806675764735e-05,
+        -0.03612267291527679
+      ],
+      "yaw_degrees_local": -4.198965098878858,
+      "yaw_radians": -0.07226110315364695,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6192920683359397,
+        8.389679799799392,
+        0.7598394000967088
+      ],
+      "z_min": 0.7407860379305053,
+      "z_max": 0.7597937037749141
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.3873264023579406,
+        8.306573232388342,
+        0.7463136276423223
+      ],
+      "rotation_wxyz": [
+        0.7367441887653924,
+        -0.00033077890907011074,
+        0.0003895704423524711,
+        0.6761713829648575
+      ],
+      "yaw_degrees_local": 85.03166533026967,
+      "yaw_radians": 1.4851072387264979,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3873264023579406,
+        8.306573232388342,
+        0.7516146182734358
+      ],
+      "z_min": 0.7410264164890547,
+      "z_max": 0.7516283977512817
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        4.8586289866176475,
+        8.754824471181333,
+        0.9327165847908144
+      ],
+      "rotation_wxyz": [
+        0.9357414517470728,
+        0.0,
+        0.0,
+        -0.35268673845536186
+      ],
+      "yaw_degrees_local": -131.30347273079792,
+      "yaw_radians": -0.7208815916601172,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8586289866176475,
+        8.754824471181333,
+        0.9452852510498438
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9453373614143905
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.0046329666775433,
+        8.66352461792298,
+        0.8219026007374606
+      ],
+      "rotation_wxyz": [
+        0.7846575931876726,
+        -0.0004371852368913193,
+        -0.0002646674987311317,
+        -0.6199291897250144
+      ],
+      "yaw_degrees_local": -76.68064967563116,
+      "yaw_radians": -1.33730494794589,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0046329666775433,
+        8.66352461792298,
+        0.9031464540308256
+      ],
+      "z_min": 0.7407129122435739,
+      "z_max": 0.9032006188303039
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.5093862331937253,
+        8.262247063911776,
+        0.7758953257676764
+      ],
+      "rotation_wxyz": [
+        0.3851401901711812,
+        -0.00013684718376378246,
+        0.0004923948258625736,
+        0.9228579374611731
+      ],
+      "yaw_degrees_local": 134.6363959066751,
+      "yaw_radians": 2.3508733455342385,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5093862331937253,
+        8.262247063911776,
+        0.8110084001108617
+      ],
+      "z_min": 0.7409292227807455,
+      "z_max": 0.8111553714671162
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.65664313287804,
+        8.305526306852826,
+        0.8412128917361261
+      ],
+      "rotation_wxyz": [
+        0.2879672998189047,
+        -8.536579125111811e-05,
+        0.0005038774632034887,
+        0.9576401062273828
+      ],
+      "yaw_degrees_local": 146.46868449302679,
+      "yaw_radians": 2.5573856933617187,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.65664313287804,
+        8.305526306852826,
+        0.9413015928281392
+      ],
+      "z_min": 0.7409934051719308,
+      "z_max": 0.9411708073559568
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        4.985328351605976,
+        8.097865246824307,
+        0.9677238322531894
+      ],
+      "rotation_wxyz": [
+        -0.6592811111879829,
+        0.0,
+        0.0,
+        0.7518965463617576
+      ],
+      "yaw_degrees_local": 172.49013853440795,
+      "yaw_radians": -1.701868135738125,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.985328351605976,
+        8.097865246824307,
+        1.0152473094534331
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0152469832968194
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        4.920253441388762,
+        8.218473606329166,
+        0.9254872400495995
+      ],
+      "rotation_wxyz": [
+        0.9999995331821218,
+        0.0,
+        0.0,
+        -0.000966248176506812
+      ],
+      "yaw_degrees_local": -90.1107239021814,
+      "yaw_radians": -0.0019324966537216295,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.920253441388762,
+        8.218473606329166,
+        0.9307882306807129
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308020101585588
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.189950149499385,
+        8.220533661016104,
+        0.8111836932960935
+      ],
+      "rotation_wxyz": [
+        0.5788017948864118,
+        -0.00024185927825405261,
+        0.0004502042933632924,
+        0.8154680993493566
+      ],
+      "yaw_degrees_local": 109.20865629445183,
+      "yaw_radians": 1.907075522110135,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.189950149499385,
+        8.220533661016104,
+        0.8813600595280124
+      ],
+      "z_min": 0.7410120211558734,
+      "z_max": 0.8813647536197111
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.8933471134701498,
+        8.799989577375001,
+        0.8705397937195767
+      ],
+      "rotation_wxyz": [
+        0.7048665009334444,
+        -0.00031251198754507156,
+        0.0004043712080266616,
+        0.7093398019863446
+      ],
+      "yaw_degrees_local": 90.30375496574669,
+      "yaw_radians": 1.5771226086377783,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8933471134701498,
+        8.799989577375001,
+        1.0007069432343458
+      ],
+      "z_min": 0.7405886306039404,
+      "z_max": 1.0009229296334787
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17380813937179584,
+        0.236489187911067,
+        0.01690050466925439
+      ],
+      "bbox_min_m": [
+        -0.08672204870025906,
+        -0.11819200461569901,
+        -0.008396606151328739
+      ],
+      "bbox_max_m": [
+        0.08708609067153673,
+        0.11829718329536795,
+        0.00850389851792564
+      ],
+      "translation_world": [
+        1.9752847691198467,
+        8.316624162717345,
+        0.7494650364242439
+      ],
+      "rotation_wxyz": [
+        0.40660067422702323,
+        -0.00014831626307322917,
+        0.0004890624728481069,
+        0.9136058398118492
+      ],
+      "yaw_degrees_local": 131.95833775486244,
+      "yaw_radians": 2.3041324178628195,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9752847691198467,
+        8.316624162717345,
+        0.757915288758871
+      ],
+      "z_min": 0.7410684302729151,
+      "z_max": 0.7579689349421695
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.142123305167055,
+        8.280064148764849,
+        0.7511060652844075
+      ],
+      "rotation_wxyz": [
+        0.3726837851379092,
+        -0.00024778055443818413,
+        -0.00044697272073653297,
+        -0.927958261515821
+      ],
+      "yaw_degrees_local": -136.29624686033628,
+      "yaw_radians": -2.3777938313943308,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.142123305167055,
+        8.280064148764849,
+        0.7611434162652262
+      ],
+      "z_min": 0.7410843728349054,
+      "z_max": 0.7611590747965428
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.3288811065158583,
+        8.257854341254701,
+        0.8411760688731482
+      ],
+      "rotation_wxyz": [
+        0.09605128815204642,
+        1.43484860586204e-05,
+        0.0005108560826574723,
+        0.9953762549229898
+      ],
+      "yaw_degrees_local": 168.917626319588,
+      "yaw_radians": 2.9491934695247113,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3288811065158583,
+        8.257854341254701,
+        0.9412647699651613
+      ],
+      "z_min": 0.7409565823089529,
+      "z_max": 0.9411339844929789
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.0580267622622954,
+        8.873781947625348,
+        0.7669654003769206
+      ],
+      "rotation_wxyz": [
+        0.398189755636612,
+        -0.0002600400177346958,
+        -0.00043995341278009394,
+        -0.9173029256064975
+      ],
+      "yaw_degrees_local": -133.12858384872806,
+      "yaw_radians": -2.3225076748095814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0580267622622954,
+        8.873781947625348,
+        0.7935398850329947
+      ],
+      "z_min": 0.7403661678042549,
+      "z_max": 0.7935151371164029
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        1.7963801712452734,
+        8.599327895875277,
+        0.7754111736046125
+      ],
+      "rotation_wxyz": [
+        0.9999678457908564,
+        -0.0005076066375863091,
+        5.9290114847536574e-05,
+        -0.00800288726509903
+      ],
+      "yaw_degrees_local": -0.9757836567984839,
+      "yaw_radians": -0.016006003593577747,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7963801712452734,
+        8.599327895875277,
+        0.8100109005874478
+      ],
+      "z_min": 0.7408043841542292,
+      "z_max": 0.8100038381198997
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.26283507855862,
+        8.369934199578552,
+        0.8050997293593973
+      ],
+      "rotation_wxyz": [
+        0.9914782692719913,
+        -0.0004945417005257776,
+        0.0001288732814876098,
+        0.1302711801650721
+      ],
+      "yaw_degrees_local": 14.911817659221413,
+      "yaw_radians": 0.26128482370381545,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.26283507855862,
+        8.369934199578552,
+        0.8692886834471178
+      ],
+      "z_min": 0.7408512566261309,
+      "z_max": 0.8692291648015719
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.625459069549326,
+        8.87764864427996,
+        0.7878401133383659
+      ],
+      "rotation_wxyz": [
+        0.8894951678697774,
+        -0.00042212952336118245,
+        0.0002880737435921114,
+        0.4569442910864523
+      ],
+      "yaw_degrees_local": 54.32150383418602,
+      "yaw_radians": 0.9491135676231964,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.625459069549326,
+        8.87764864427996,
+        0.8352926390773463
+      ],
+      "z_min": 0.7404170637649373,
+      "z_max": 0.8353221152428982
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.8189310259468399,
+        8.202052491408235,
+        0.8139766951721294
+      ],
+      "rotation_wxyz": [
+        0.6312231649961358,
+        -0.0002709685880384376,
+        0.00043330802039284717,
+        0.7756010925678516
+      ],
+      "yaw_degrees_local": 101.66043101465124,
+      "yaw_radians": 1.775334089968792,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8189310259468399,
+        8.202052491408235,
+        0.8868391397788732
+      ],
+      "z_min": 0.741204476370253,
+      "z_max": 0.8869293655837404
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.1898702390009737,
+        8.863137072321907,
+        0.775326366820538
+      ],
+      "rotation_wxyz": [
+        0.5661877689020502,
+        -0.0003393411932116776,
+        -0.00038213527818036836,
+        -0.8242761364772744
+      ],
+      "yaw_degrees_local": -111.08907450750523,
+      "yaw_radians": -1.9378455449167842,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1898702390009737,
+        8.863137072321907,
+        0.8104394411637234
+      ],
+      "z_min": 0.7403602638336071,
+      "z_max": 0.8105864125199779
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.7449269996318924,
+        8.77335659388256,
+        0.7869712357069539
+      ],
+      "rotation_wxyz": [
+        0.9926311433585777,
+        -0.0005110555338371682,
+        1.434424874146255e-06,
+        -0.12117405685552764
+      ],
+      "yaw_degrees_local": -13.978443384050706,
+      "yaw_radians": -0.24294510982796583,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7449269996318924,
+        8.77335659388256,
+        0.8335528389728719
+      ],
+      "z_min": 0.7403810018422539,
+      "z_max": 0.8335442083740898
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.71131588811876,
+        8.579375786453433,
+        0.7879050572819751
+      ],
+      "rotation_wxyz": [
+        0.8532290722791904,
+        -0.00046572567147026877,
+        -0.00021042674538632175,
+        -0.521536086036025
+      ],
+      "yaw_degrees_local": -62.929410814510874,
+      "yaw_radians": -1.0973004819256396,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.71131588811876,
+        8.579375786453433,
+        0.8352711839432301
+      ],
+      "z_min": 0.7405820023672254,
+      "z_max": 0.8353142556897354
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.784183557046609,
+        8.849911970452272,
+        0.8352986057102489
+      ],
+      "rotation_wxyz": [
+        0.18889097359302637,
+        -3.3579523816303373e-05,
+        0.0005099531663011642,
+        0.9819979322357366
+      ],
+      "yaw_degrees_local": 158.165147173261,
+      "yaw_radians": 2.7615273980564146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.784183557046609,
+        8.849911970452272,
+        0.9301954517744525
+      ],
+      "z_min": 0.7404251094078342,
+      "z_max": 0.9302188015362415
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.39113378612168,
+        8.696126759162263,
+        0.788083960451439
+      ],
+      "rotation_wxyz": [
+        0.9975227972239453,
+        -0.0005103159360243442,
+        2.7522021726430766e-05,
+        -0.07034207729872463
+      ],
+      "yaw_degrees_local": -8.12598194752141,
+      "yaw_radians": -0.14080044119210994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.39113378612168,
+        8.696126759162263,
+        0.8354828858795394
+      ],
+      "z_min": 0.7405041573391393,
+      "z_max": 0.8353020081953403
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.8844150520955165,
+        8.302894334578058,
+        0.7875440869571596
+      ],
+      "rotation_wxyz": [
+        0.021804056381049798,
+        -7.439265953997284e-05,
+        -0.0005056140311016717,
+        -0.9997621326823275
+      ],
+      "yaw_degrees_local": -177.5599512604052,
+      "yaw_radians": -3.097981165114049,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8844150520955165,
+        8.302894334578058,
+        0.8339112550930445
+      ],
+      "z_min": 0.7409671876248007,
+      "z_max": 0.8337015238965706
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.359554189356083,
+        8.159124217220977,
+        0.7471197357986962
+      ],
+      "rotation_wxyz": [
+        0.9985797583804485,
+        -0.0005097707169874396,
+        3.62440663064214e-05,
+        -0.05327480617542168
+      ],
+      "yaw_degrees_local": -6.166445807944427,
+      "yaw_radians": -0.10660010160606408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.359554189356083,
+        8.159124217220977,
+        0.7529369485652685
+      ],
+      "z_min": 0.7411794831363865,
+      "z_max": 0.7528139086695311
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.4820351558403866,
+        8.285859129392694,
+        0.8063397705266894
+      ],
+      "rotation_wxyz": [
+        0.9280146379470825,
+        -0.00044701020481567073,
+        0.0002477129246344743,
+        0.3725433807976318
+      ],
+      "yaw_degrees_local": 43.68641543799751,
+      "yaw_radians": 0.763496222184473,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4820351558403866,
+        8.285859129392694,
+        0.8716954948883309
+      ],
+      "z_min": 0.7410354570441868,
+      "z_max": 0.8717469057674698
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        4.989692224700863,
+        8.358318546005028,
+        0.9258898296256565
+      ],
+      "rotation_wxyz": [
+        -0.461194352005316,
+        0.0,
+        0.0,
+        0.8872991432873113
+      ],
+      "yaw_degrees_local": 144.92840748550407,
+      "yaw_radians": -2.1829110900906477,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.989692224700863,
+        8.358318546005028,
+        0.9317208806504427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318621309459042
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        1.916706293324957,
+        8.612096984319315,
+        0.821965900706296
+      ],
+      "rotation_wxyz": [
+        0.787991498001513,
+        -0.0003605990249905566,
+        0.00036214383802043705,
+        0.6156859084772979
+      ],
+      "yaw_degrees_local": 75.94485435507065,
+      "yaw_radians": 1.3265123864794721,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.916706293324957,
+        8.612096984319315,
+        0.9032097539996611
+      ],
+      "z_min": 0.7407762122124094,
+      "z_max": 0.9032639187991394
+    }
+  ],
+  "variant_index": 55
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0057/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0057/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..7aa9b9cfa9d41cdae9ab6d77151c13e52515b792
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0057/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6412741045826777427
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.641433873, -0.000373882505, -0.000348413101, -0.767178158)
+            double3 xformOp:translate = (2.16838776113, 8.83561816719, 0.740517579102)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.907985781, -0.000433910158, 0.000270003317, 0.419000668)
+            double3 xformOp:translate = (3.68745042924, 8.25791751013, 0.740911031761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.300482593, -0.000212802453, -0.000464644953, -0.953787162)
+            double3 xformOp:translate = (3.74890515474, 8.77524676208, 0.740378556399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905822557, -0.000432518172, 0.000272227564, 0.423656977)
+            double3 xformOp:translate = (1.93754051203, 8.37632612764, 0.744427199178)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416463385, -0.000268790523, -0.000434662479, -0.909152346)
+            double3 xformOp:translate = (3.57081556695, 8.71888480869, 0.744011853959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.145496228, -1.1107049e-05, 0.000510936835, 0.989358674)
+            double3 xformOp:translate = (1.89008843741, 8.70169130412, 0.749508181477)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.762337028, -0.000427592478, -0.000279900856, -0.647180032)
+            double3 xformOp:translate = (3.04313161578, 8.24041401455, 0.746297637195)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.472240275, -0.000183638993, 0.000476924036, 0.881469717)
+            double3 xformOp:translate = (3.46803009826, 8.27346618178, 0.746210279509)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.149977346, -0.00013868991, -0.000491878974, -0.988689301)
+            double3 xformOp:translate = (3.30504403204, 8.1870917943, 0.767630566261)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.866456841, -0.000407766222, 0.000308069026, 0.499251721)
+            double3 xformOp:translate = (2.01583669358, 8.21402294957, 0.771759366078)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.672734449, -0.000388026417, -0.000332588809, -0.739883842)
+            double3 xformOp:translate = (2.91517161768, 8.30872273234, 0.787534278717)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.348651086, -0.000117431077, 0.000497382909, 0.937252452)
+            double3 xformOp:translate = (3.22383463198, 8.34455851785, 0.779753071571)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977398752, -0.000482261979, 0.000169124806, 0.211403452)
+            double3 xformOp:translate = (2.19921839446, 8.29730381155, 0.746141864319)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.116397917, -0.000121947161, -0.000496294979, -0.993202529)
+            double3 xformOp:translate = (3.15293348068, 8.88623943273, 0.786553519936)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999453331, 0, 0, 0.0330611513)
+            double3 xformOp:translate = (4.82568280272, 8.58070185784, 1.02041951546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0260027975, 5.01426811e-05, 0.00050859171, 0.999661739)
+            double3 xformOp:translate = (3.71859066974, 8.68305115987, 0.826863207192)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.14014112, -0.000133793161, -0.00049323342, -0.990131408)
+            double3 xformOp:translate = (3.15000901996, 8.20987664453, 0.882662790999)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.42836867, -0.000159988789, 0.000485369348, 0.903603908)
+            double3 xformOp:translate = (2.3314372467, 8.83969119573, 0.813265046368)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.778552554, -0.000434573907, -0.000268933702, -0.627579206)
+            double3 xformOp:translate = (3.69558231256, 8.8834951602, 0.787371796332)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.574821327, -0.000239662661, 0.000451377475, 0.818278791)
+            double3 xformOp:translate = (3.47311483496, 8.40346809955, 0.78700259482)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.882967022, -0.000418027719, 0.000293994289, 0.469434743)
+            double3 xformOp:translate = (3.6219113582, 8.33121472181, 0.746208463787)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.822031884, -0.000380791073, 0.000340848903, 0.569441235)
+            double3 xformOp:translate = (3.38360515002, 8.62172273021, 0.807449284756)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976671181, 0, 0, 0.214740317)
+            double3 xformOp:translate = (4.89848247732, 8.17534461616, 0.925889829626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.20128055, -0.000164126558, -0.000483985836, -0.979533501)
+            double3 xformOp:translate = (2.69609192854, 8.89585868773, 0.810561329314)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984420155, -0.000488076151, 0.000151530484, 0.175831446)
+            double3 xformOp:translate = (2.92133026078, 8.8502494494, 0.745770806475)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.62528965, -0.000267656064, 0.000435361973, 0.780392589)
+            double3 xformOp:translate = (1.68605551582, 8.32166482018, 0.748517946728)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.625518586, -0.000366637127, -0.00035602954, -0.780209098)
+            double3 xformOp:translate = (3.65622228804, 8.5025682322, 0.787989938396)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0870035384, 0, 0, 0.996208003)
+            double3 xformOp:translate = (4.98033383932, 8.32275464833, 1.00138971739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.066882591, -9.71259133e-05, -0.000501743334, -0.997760722)
+            double3 xformOp:translate = (1.78267276891, 8.59038366916, 0.74518483597)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.5103632, -0.00031329218, -0.000403767045, -0.859958803)
+            double3 xformOp:translate = (1.73041204098, 8.88032269783, 0.746178169565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0057/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0057/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..222ef2f1d86f6db659d13f5172acc13e57983229
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0057/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6412741045826777427,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small object": 5,
+    "electronics": 5,
+    "electronics accessory": 1,
+    "office_supplies": 3,
+    "clock": 3,
+    "decorative_object": 2,
+    "small prop": 1,
+    "office_supply": 2,
+    "writing_instrument": 1
+  },
+  "failed_sampling_attempt_count": 130,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.1683877611273927,
+        8.83561816719403,
+        0.7405175791022159
+      ],
+      "rotation_wxyz": [
+        0.6414338726562863,
+        -0.0003738825050800852,
+        -0.0003484131005507007,
+        -0.7671781578156036
+      ],
+      "yaw_degrees_local": -100.26105179817978,
+      "yaw_radians": -1.7488608033104538,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1683877611273927,
+        8.83561816719403,
+        0.7905176729795315
+      ],
+      "z_min": 0.7405175791022159,
+      "z_max": 0.840517766856847
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.6874504292354495,
+        8.257917510126639,
+        0.7409110317605372
+      ],
+      "rotation_wxyz": [
+        0.907985781319739,
+        -0.00043391015763661884,
+        0.00027000331727606094,
+        0.41900066794859336
+      ],
+      "yaw_degrees_local": 49.48431958072703,
+      "yaw_radians": 0.8646887550839051,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6874504292354495,
+        8.257917510126639,
+        0.7634080434743202
+      ],
+      "z_min": 0.7409110347554717,
+      "z_max": 0.7859050581830378
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.7489051547372094,
+        8.775246762079938,
+        0.7403785563992682
+      ],
+      "rotation_wxyz": [
+        0.3004825927673182,
+        -0.00021280245261101242,
+        -0.0004646449530588387,
+        -0.953787161930802
+      ],
+      "yaw_degrees_local": -145.08552358254192,
+      "yaw_radians": -2.5311956532110207,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7489051547372094,
+        8.775246762079938,
+        0.7903786502765837
+      ],
+      "z_min": 0.7403785563992682,
+      "z_max": 0.8403787441538992
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        1.9375405120340903,
+        8.376326127642827,
+        0.7444271991776213
+      ],
+      "rotation_wxyz": [
+        0.9058225570612942,
+        -0.0004325181724049429,
+        0.00027222756432771584,
+        0.4236569767384013
+      ],
+      "yaw_degrees_local": 50.07266455645615,
+      "yaw_radians": 0.874957314222386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9375405120340903,
+        8.376326127642827,
+        0.7478664812568364
+      ],
+      "z_min": 0.741012658256266,
+      "z_max": 0.7478912224146961
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.5708155669541557,
+        8.718884808693286,
+        0.7440118539592241
+      ],
+      "rotation_wxyz": [
+        0.4164633849537575,
+        -0.0002687905230758143,
+        -0.0004346624793387885,
+        -0.909152345766672
+      ],
+      "yaw_degrees_local": -130.835690242168,
+      "yaw_radians": -2.282489124694429,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5708155669541557,
+        8.718884808693286,
+        0.7475869145354439
+      ],
+      "z_min": 0.7404582865125205,
+      "z_max": 0.7476084076649602
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        1.8900884374076299,
+        8.701691304124974,
+        0.7495081814769923
+      ],
+      "rotation_wxyz": [
+        0.1454962282909103,
+        -1.110704904637284e-05,
+        0.0005109368353346567,
+        0.9893586742801134
+      ],
+      "yaw_degrees_local": 163.2092559413777,
+      "yaw_radians": 2.8495636620195914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8900884374076299,
+        8.701691304124974,
+        0.7583103046003863
+      ],
+      "z_min": 0.7406886774792374,
+      "z_max": 0.7582929237260255
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.0431316157820065,
+        8.2404140145476,
+        0.7462976371945708
+      ],
+      "rotation_wxyz": [
+        0.7623370284346486,
+        -0.00042759247802997674,
+        -0.00027990085561229794,
+        -0.6471800320603331
+      ],
+      "yaw_degrees_local": -80.71737162815347,
+      "yaw_radians": -1.4077590663874673,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0431316157820065,
+        8.2404140145476,
+        0.7515986278256842
+      ],
+      "z_min": 0.7410104260413031,
+      "z_max": 0.7516124073035301
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.468030098263047,
+        8.273466181779554,
+        0.7462102795092386
+      ],
+      "rotation_wxyz": [
+        0.4722402750095314,
+        -0.00018363899286086155,
+        0.00047692403644748396,
+        0.8814697167113038
+      ],
+      "yaw_degrees_local": 123.58164922332918,
+      "yaw_radians": 2.1579316224390914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.468030098263047,
+        8.273466181779554,
+        0.751511270140352
+      ],
+      "z_min": 0.7409230683559709,
+      "z_max": 0.7515250496181979
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.3050440320357155,
+        8.187091794300057,
+        0.7676305662614683
+      ],
+      "rotation_wxyz": [
+        0.1499773464050358,
+        -0.0001386899101830939,
+        -0.0004918789739902672,
+        -0.9886893012395188
+      ],
+      "yaw_degrees_local": -162.80748064433564,
+      "yaw_radians": -2.840502090346055,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3050440320357155,
+        8.187091794300057,
+        0.7942050509175423
+      ],
+      "z_min": 0.7410313336888026,
+      "z_max": 0.7941803030009505
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.015836693583725,
+        8.214022949574861,
+        0.7717593660778173
+      ],
+      "rotation_wxyz": [
+        0.866456841277872,
+        -0.0004077662216489488,
+        0.00030806902590564504,
+        0.4992517211016468
+      ],
+      "yaw_degrees_local": 59.842311407876366,
+      "yaw_radians": 1.0454698684529842,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.015836693583725,
+        8.214022949574861,
+        0.80236176758321
+      ],
+      "z_min": 0.7411673653444417,
+      "z_max": 0.8023721683552273
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.9151716176846594,
+        8.308722732336225,
+        0.7875342787172904
+      ],
+      "rotation_wxyz": [
+        0.6727344486888357,
+        -0.00038802641691047953,
+        -0.00033258880922232986,
+        -0.7398838424830699
+      ],
+      "yaw_degrees_local": -95.50177022345056,
+      "yaw_radians": -1.6657956264749252,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9151716176846594,
+        8.308722732336225,
+        0.8339014468531754
+      ],
+      "z_min": 0.7409573793849316,
+      "z_max": 0.8336917156567014
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.2238346319833884,
+        8.344558517853597,
+        0.7797530715713621
+      ],
+      "rotation_wxyz": [
+        0.34865108614440843,
+        -0.00011743107655536375,
+        0.0004973829093358164,
+        0.9372524520909552
+      ],
+      "yaw_degrees_local": 139.1316206213432,
+      "yaw_radians": 2.429329804684767,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2238346319833884,
+        8.344558517853597,
+        0.8187005031063688
+      ],
+      "z_min": 0.7408819216032411,
+      "z_max": 0.8187767846732545
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.1992183944558326,
+        8.29730381154776,
+        0.7461418643192796
+      ],
+      "rotation_wxyz": [
+        0.9773987515199245,
+        -0.0004822619789137228,
+        0.00016912480579303737,
+        0.21140345159783147
+      ],
+      "yaw_degrees_local": 24.350514371814285,
+      "yaw_radians": 0.42602110762712586,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1992183944558326,
+        8.29730381154776,
+        0.7512714670153576
+      ],
+      "z_min": 0.7410596512222146,
+      "z_max": 0.7513188566143705
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.152933480676289,
+        8.886239432730878,
+        0.7865535199356086
+      ],
+      "rotation_wxyz": [
+        0.1163979172787382,
+        -0.0001219471613059829,
+        -0.0004962949789084362,
+        -0.99320252903089
+      ],
+      "yaw_degrees_local": -166.690185979685,
+      "yaw_radians": -2.908268057260927,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.152933480676289,
+        8.886239432730878,
+        0.8327461198416911
+      ],
+      "z_min": 0.7403415184793778,
+      "z_max": 0.8327267182915427
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        4.825682802716359,
+        8.580701857840417,
+        1.0204195154605271
+      ],
+      "rotation_wxyz": [
+        0.999453330714843,
+        0.0,
+        0.0,
+        0.03306115126559939
+      ],
+      "yaw_degrees_local": -86.21078062482505,
+      "yaw_radians": 0.06613435417716504,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.825682802716359,
+        8.580701857840417,
+        1.1205082165525402
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.1203774310803578
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.71859066974439,
+        8.683051159871022,
+        0.8268632071924549
+      ],
+      "rotation_wxyz": [
+        0.026002797515868283,
+        5.014268114605292e-05,
+        0.0005085917102822243,
+        0.9996617394606702
+      ],
+      "yaw_degrees_local": 176.96125219765293,
+      "yaw_radians": 3.0895811518039418,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.71859066974439,
+        8.683051159871022,
+        0.9132624861507216
+      ],
+      "z_min": 0.7404759501500939,
+      "z_max": 0.9132745080666272
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.150009019958444,
+        8.209876644531613,
+        0.8826627909993967
+      ],
+      "rotation_wxyz": [
+        0.1401411196953497,
+        -0.00013379316092575877,
+        -0.0004932334197211362,
+        -0.9901314081427361
+      ],
+      "yaw_degrees_local": -163.94668367071918,
+      "yaw_radians": -2.860384927002909,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.150009019958444,
+        8.209876644531613,
+        1.024223578195148
+      ],
+      "z_min": 0.7410279277602762,
+      "z_max": 1.024149502151779
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.331437246700324,
+        8.839691195731378,
+        0.8132650463682745
+      ],
+      "rotation_wxyz": [
+        0.4283686695887515,
+        -0.00015998878870313932,
+        0.0004853693477441843,
+        0.9036039075474093
+      ],
+      "yaw_degrees_local": 129.21312991152234,
+      "yaw_radians": 2.256219504756007,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.331437246700324,
+        8.839691195731378,
+        0.8861274909750182
+      ],
+      "z_min": 0.740492827566398,
+      "z_max": 0.8862177167798854
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.695582312558891,
+        8.883495160203719,
+        0.7873717963315957
+      ],
+      "rotation_wxyz": [
+        0.7785525535413581,
+        -0.0004345739065829686,
+        -0.0002689337017882472,
+        -0.6275792063113745
+      ],
+      "yaw_degrees_local": -77.80221395281221,
+      "yaw_radians": -1.3568799452021114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.695582312558891,
+        8.883495160203719,
+        0.8344775470182282
+      ],
+      "z_min": 0.7402755480557811,
+      "z_max": 0.8344870494290461
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.473114834962985,
+        8.403468099554058,
+        0.7870025948197069
+      ],
+      "rotation_wxyz": [
+        0.5748213272275294,
+        -0.000239662660716448,
+        0.00045137747540016366,
+        0.8182787914791423
+      ],
+      "yaw_degrees_local": 109.7670378830727,
+      "yaw_radians": 1.9168211223539156,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.473114834962985,
+        8.403468099554058,
+        0.8331951947257894
+      ],
+      "z_min": 0.7407905933634761,
+      "z_max": 0.8331757931756409
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.6219113581984885,
+        8.331214721807564,
+        0.746208463787074
+      ],
+      "rotation_wxyz": [
+        0.8829670216641927,
+        -0.00041802771936751577,
+        0.0002939942891974368,
+        0.46943474250810296
+      ],
+      "yaw_degrees_local": 55.93651894475272,
+      "yaw_radians": 0.9773009071353825,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6219113581984885,
+        8.331214721807564,
+        0.7515439044820748
+      ],
+      "z_min": 0.7408450010402639,
+      "z_max": 0.7515158824302655
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        3.383605150017512,
+        8.621722730205772,
+        0.8074492847561295
+      ],
+      "rotation_wxyz": [
+        0.8220318841392408,
+        -0.0003807910731549118,
+        0.0003408489032487023,
+        0.5694412351407948
+      ],
+      "yaw_degrees_local": 69.36384108122644,
+      "yaw_radians": 1.2116519805970145,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.383605150017512,
+        8.621722730205772,
+        0.8743005897884109
+      ],
+      "z_min": 0.7405805842618097,
+      "z_max": 0.8742831943263724
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        4.898482477320153,
+        8.175344616155385,
+        0.9258898296256565
+      ],
+      "rotation_wxyz": [
+        0.9766711811495601,
+        0.0,
+        0.0,
+        0.21474031738805738
+      ],
+      "yaw_degrees_local": -65.19941450419196,
+      "yaw_radians": 0.432851873324201,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.898482477320153,
+        8.175344616155385,
+        0.9317208806504427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318621309459042
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.696091928541929,
+        8.895858687725577,
+        0.8105613293137393
+      ],
+      "rotation_wxyz": [
+        0.20128055021149033,
+        -0.00016412655849556122,
+        -0.0004839858355744678,
+        -0.9795335006658751
+      ],
+      "yaw_degrees_local": -156.83500311768216,
+      "yaw_radians": -2.736262724399633,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.696091928541929,
+        8.895858687725577,
+        0.8807376955456581
+      ],
+      "z_min": 0.7403896571735191,
+      "z_max": 0.8807423896373568
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.921330260779531,
+        8.850249449403456,
+        0.7457708064751558
+      ],
+      "rotation_wxyz": [
+        0.9844201549362942,
+        -0.0004880761505200159,
+        0.00015153048384359993,
+        0.17583144592303945
+      ],
+      "yaw_degrees_local": 20.19538574158753,
+      "yaw_radians": 0.3535004517332486,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.921330260779531,
+        8.850249449403456,
+        0.7511062471701566
+      ],
+      "z_min": 0.7404073437283457,
+      "z_max": 0.7510782251183473
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        1.6860555158230346,
+        8.321664820181505,
+        0.7485179467280885
+      ],
+      "rotation_wxyz": [
+        0.6252896495649455,
+        -0.00026765606378271296,
+        0.0004353619732597886,
+        0.7803925890006463
+      ],
+      "yaw_degrees_local": 102.53437735018758,
+      "yaw_radians": 1.7905873372403278,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6860555158230346,
+        8.321664820181505,
+        0.7560578493711879
+      ],
+      "z_min": 0.7410999630351767,
+      "z_max": 0.7561797683213756
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.656222288040293,
+        8.502568232196042,
+        0.7879899383958263
+      ],
+      "rotation_wxyz": [
+        0.6255185863700897,
+        -0.0003666371266144888,
+        -0.00035602954038700766,
+        -0.7802090982074926
+      ],
+      "yaw_degrees_local": -102.61817753400686,
+      "yaw_radians": -1.790000429530636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.656222288040293,
+        8.502568232196042,
+        0.8353560650570813
+      ],
+      "z_min": 0.7406668834810766,
+      "z_max": 0.8353991368035866
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        4.98033383931762,
+        8.322754648334982,
+        1.0013897173902184
+      ],
+      "rotation_wxyz": [
+        0.08700353837868768,
+        0.0,
+        0.0,
+        0.996208002532397
+      ],
+      "yaw_degrees_local": 80.01750784205575,
+      "yaw_radians": 2.9673652978791525,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.98033383931762,
+        8.322754648334982,
+        1.0826335706835835
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0826877354830617
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        1.7826727689099018,
+        8.590383669156138,
+        0.7451848359701913
+      ],
+      "rotation_wxyz": [
+        0.06688259103107386,
+        -9.712591327330021e-05,
+        -0.0005017433339977123,
+        -0.9977607217350031
+      ],
+      "yaw_degrees_local": -172.38880349992556,
+      "yaw_radians": -3.0077276534588924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7826727689099018,
+        8.590383669156138,
+        0.7496088654387449
+      ],
+      "z_min": 0.7408151766253389,
+      "z_max": 0.7496632355624463
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.7304120409785662,
+        8.880322697831948,
+        0.7461781695645747
+      ],
+      "rotation_wxyz": [
+        0.510363199821681,
+        -0.0003132921798128508,
+        -0.00040376704460421856,
+        -0.8599588031341728
+      ],
+      "yaw_degrees_local": -118.68265088302869,
+      "yaw_radians": -2.0703785109284274,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7304120409785662,
+        8.880322697831948,
+        0.7518270207778568
+      ],
+      "z_min": 0.7405277332947878,
+      "z_max": 0.7518254357213521
+    }
+  ],
+  "variant_index": 57
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0058/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0058/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..96621faf1377e3c8e264124e2d8168a061d99961
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0058/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6067012525613490436
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999692163, -0.000505388399, 7.59103566e-05, 0.0248055981)
+            double3 xformOp:translate = (3.62098164765, 8.30622461326, 0.740870461806)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.11788295, -0.000122689148, -0.000496112073, -0.993027366)
+            double3 xformOp:translate = (2.0091553083, 8.82962108017, 0.740543836471)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0212151903, 5.25777157e-05, 0.000508345749, 0.999774802)
+            double3 xformOp:translate = (1.75196095881, 8.52003694624, 0.753902412832)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.681117925, -0.000299022175, 0.000414446082, 0.732173553)
+            double3 xformOp:translate = (3.30317319466, 8.35607697435, 0.749679675229)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0720836023, 2.663099e-05, 0.00051036321, 0.997398463)
+            double3 xformOp:translate = (2.11928679261, 8.35775741931, 0.806312809592)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988765606, -0.000510888041, -1.31615384e-05, -0.149473461)
+            double3 xformOp:translate = (3.30834049745, 8.53525518605, 0.775643904865)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.118275717, 2.92636165e-06, 0.000511049169, 0.992980661)
+            double3 xformOp:translate = (3.68658398445, 8.82246552342, 0.80101308427)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996138098, -0.000510719626, 1.85817178e-05, -0.0877987997)
+            double3 xformOp:translate = (2.27992219516, 8.29061438549, 0.741056207937)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.199158896, -3.89152068e-05, 0.000509573766, 0.979967078)
+            double3 xformOp:translate = (3.51223861795, 8.79138809798, 0.752192738296)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99851474, -0.00050291143, 9.08840436e-05, 0.0544798316)
+            double3 xformOp:translate = (1.81266581933, 8.78550482856, 0.740613473036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.531069517, -0.00021563513, 0.000463337142, 0.847328098)
+            double3 xformOp:translate = (3.07568417994, 8.28328704659, 0.818330373406)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.76082501, -0.00034471473, 0.000377295071, 0.648956889)
+            double3 xformOp:translate = (3.65060926626, 8.60496186182, 0.775170526551)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.639123003, 0, 0, 0.769104536)
+            double3 xformOp:translate = (4.83339607531, 8.53254576314, 0.972877952789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.086961343, 1.9011059e-05, 0.000510703824, 0.996211556)
+            double3 xformOp:translate = (3.60028521701, 8.51471643271, 0.745031286583)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.414065896, -0.00026764405, -0.000435369359, -0.910246765)
+            double3 xformOp:translate = (2.8377810529, 8.87301676343, 0.779740819873)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.466217321, -0.000292470573, -0.000419095192, -0.884670079)
+            double3 xformOp:translate = (3.50222941298, 8.62917329716, 0.840815020749)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.971128695, -0.000477362227, 0.000182496905, 0.238555645)
+            double3 xformOp:translate = (3.01281453322, 8.25855518566, 0.788418939474)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.688955188, -0.000395296881, -0.000323913865, -0.724803758)
+            double3 xformOp:translate = (2.2598326187, 8.85111108863, 0.801164802013)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925522945, -0.000493337746, -0.000133407963, -0.378691189)
+            double3 xformOp:translate = (2.52173762202, 8.25361152078, 0.770971244866)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.870587796, -0.000410319682, 0.000304659769, 0.492012834)
+            double3 xformOp:translate = (2.0034724262, 8.41119391879, 0.746619378011)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986154483, -0.000489589351, 0.000146567675, 0.165828448)
+            double3 xformOp:translate = (2.8360772137, 8.23076958239, 0.794956501138)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999700727, -0.00050851362, 5.09285196e-05, -0.0244580452)
+            double3 xformOp:translate = (3.57262311142, 8.18915954342, 0.777650889919)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.434288393, -0.00027729908, -0.000429284331, -0.90077374)
+            double3 xformOp:translate = (3.55789451729, 8.88310406016, 0.870244596316)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.157319956, -1.72177855e-05, 0.000510767427, 0.987547553)
+            double3 xformOp:translate = (2.69241712474, 8.28935078428, 0.741005225952)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869622188, -0.000472276561, -0.000195280993, -0.493717519)
+            double3 xformOp:translate = (3.40889758697, 8.64583876521, 0.746493141259)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0654283686, -9.63945619e-05, -0.000501884354, -0.997857138)
+            double3 xformOp:translate = (2.02413518201, 8.66599453401, 0.75172794653)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.182686587, 0, 0, 0.983171201)
+            double3 xformOp:translate = (4.87445681246, 8.7787280618, 0.92548724005)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999690251, -0.000505382555, 7.59492539e-05, 0.0248825399)
+            double3 xformOp:translate = (2.11874816812, 8.92662252111, 0.818391411439)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.437846211, -0.00027899409, -0.000428184673, -0.89904974)
+            double3 xformOp:translate = (2.11927790499, 8.26086199692, 0.809160108249)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.321097529, -0.000222829559, -0.000459920432, -0.947045995)
+            double3 xformOp:translate = (3.25772155557, 8.87823807341, 0.77440599342)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0058/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0058/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f5ad17b0f8d2aff327b5b5c78648d75c12d569
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0058/placement.json
@@ -0,0 +1,1546 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6067012525613490436,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 5,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 5,
+    "sceneforge_base": 25
+  },
+  "category_counts": {
+    "book": 3,
+    "electronics accessory": 1,
+    "small object": 6,
+    "clock": 1,
+    "drinkware": 6,
+    "electronics": 4,
+    "paper_goods": 1,
+    "office_supply": 2,
+    "drinkware/container": 1,
+    "writing_instrument": 1,
+    "small_electronics": 1,
+    "small electronic device": 1,
+    "office_supplies": 1,
+    "small prop": 1
+  },
+  "failed_sampling_attempt_count": 270,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.620981647649648,
+        8.306224613259632,
+        0.7408704618061797
+      ],
+      "rotation_wxyz": [
+        0.9996921631808126,
+        -0.0005053883991538967,
+        7.591035661208602e-05,
+        0.024805598058737475
+      ],
+      "yaw_degrees_local": 2.784093694931414,
+      "yaw_radians": 0.04961620276607096,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.620981647649648,
+        8.306224613259632,
+        0.8908704677666441
+      ],
+      "z_min": 0.7408704618061797,
+      "z_max": 1.0408704737271086
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.0091553083013154,
+        8.829621080165957,
+        0.7405438364710301
+      ],
+      "rotation_wxyz": [
+        0.11788295006594147,
+        -0.00012268914843167932,
+        -0.0004961120731220134,
+        -0.9930273656369872
+      ],
+      "yaw_degrees_local": -166.5188340218491,
+      "yaw_radians": -2.9052774025932733,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0091553083013154,
+        8.829621080165957,
+        0.8905438424314945
+      ],
+      "z_min": 0.7405438364710301,
+      "z_max": 1.040543848391959
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        1.7519609588103562,
+        8.520036946244415,
+        0.753902412831576
+      ],
+      "rotation_wxyz": [
+        0.021215190313965786,
+        5.2577715717533425e-05,
+        0.0005083457485316847,
+        0.9997748019029716
+      ],
+      "yaw_degrees_local": 177.5100251278431,
+      "yaw_radians": 3.0991590413378445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7519609588103562,
+        8.520036946244415,
+        0.7668782319413382
+      ],
+      "z_min": 0.7408904202704469,
+      "z_max": 0.7668420584899713
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        3.3031731946550287,
+        8.3560769743477,
+        0.7496796752292282
+      ],
+      "rotation_wxyz": [
+        0.6811179248596763,
+        -0.0002990221751593239,
+        0.00041444608214253784,
+        0.732173552687498
+      ],
+      "yaw_degrees_local": 94.07914862075899,
+      "yaw_radians": 1.6430156910478948,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3031731946550287,
+        8.3560769743477,
+        0.7584817983526222
+      ],
+      "z_min": 0.7408601712314733,
+      "z_max": 0.7584644174782614
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.1192867926127987,
+        8.35775741931125,
+        0.8063128095916058
+      ],
+      "rotation_wxyz": [
+        0.0720836022581467,
+        2.6630989962399742e-05,
+        0.0005103632104824319,
+        0.9973984625542959
+      ],
+      "yaw_degrees_local": 171.67394598596513,
+      "yaw_radians": 2.99730029791857,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1192867926127987,
+        8.35775741931125,
+        0.8716685339532473
+      ],
+      "z_min": 0.7410084961091032,
+      "z_max": 0.8717199448323862
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.3083404974504984,
+        8.535255186050104,
+        0.7756439048654922
+      ],
+      "rotation_wxyz": [
+        0.9887656058259954,
+        -0.0005108880407154548,
+        -1.3161538444892871e-05,
+        -0.14947346104153847
+      ],
+      "yaw_degrees_local": -17.251540877052378,
+      "yaw_radians": -0.3000714092790041,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3083404974504984,
+        8.535255186050104,
+        0.8107569792086775
+      ],
+      "z_min": 0.7406778018785612,
+      "z_max": 0.810903950564932
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.686583984451474,
+        8.822465523416355,
+        0.8010130842702494
+      ],
+      "rotation_wxyz": [
+        0.11827571652450042,
+        2.9263616537540416e-06,
+        0.0005110491685227401,
+        0.9929806612924544
+      ],
+      "yaw_degrees_local": 166.3560883713139,
+      "yaw_radians": 2.9044862213768976,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.686583984451474,
+        8.822465523416355,
+        0.861639950725509
+      ],
+      "z_min": 0.7403385934681671,
+      "z_max": 0.8615923263786863
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.279922195156374,
+        8.290614385491144,
+        0.7410562079366544
+      ],
+      "rotation_wxyz": [
+        0.9961380976503361,
+        -0.0005107196256310092,
+        1.8581717779432913e-05,
+        -0.08779879970565307
+      ],
+      "yaw_degrees_local": -10.13268421120452,
+      "yaw_radians": -0.17582398455180337,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.279922195156374,
+        8.290614385491144,
+        0.7910563018139699
+      ],
+      "z_min": 0.7410562079366544,
+      "z_max": 0.8410563956912854
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.512238617954274,
+        8.791388097982868,
+        0.7521927382959743
+      ],
+      "rotation_wxyz": [
+        0.19915889588432595,
+        -3.8915206798404616e-05,
+        0.0005095737659261414,
+        0.9799670775134848
+      ],
+      "yaw_degrees_local": 156.96573079695798,
+      "yaw_radians": 2.7405936426077746,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.512238617954274,
+        8.791388097982868,
+        0.7640640088425441
+      ],
+      "z_min": 0.740392177416525,
+      "z_max": 0.7641347185096644
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.8126658193330838,
+        8.785504828562916,
+        0.7406134730364173
+      ],
+      "rotation_wxyz": [
+        0.9985147403858103,
+        -0.0005029114304389675,
+        9.088404356180503e-05,
+        0.05447983161172284
+      ],
+      "yaw_degrees_local": 6.187311592046655,
+      "yaw_radians": 0.10901353176031259,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8126658193330838,
+        8.785504828562916,
+        0.7631104847502004
+      ],
+      "z_min": 0.7406134760313519,
+      "z_max": 0.785607499458918
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.0756841799398797,
+        8.283287046586263,
+        0.8183303734055618
+      ],
+      "rotation_wxyz": [
+        0.5310695174892132,
+        -0.0002156351304945012,
+        0.00046333714154698634,
+        0.8473280984447278
+      ],
+      "yaw_degrees_local": 115.785787536221,
+      "yaw_radians": 2.0218681481134846,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0756841799398797,
+        8.283287046586263,
+        0.8957121285389013
+      ],
+      "z_min": 0.7409628560381785,
+      "z_max": 0.8957263663048574
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.650609266262647,
+        8.604961861815653,
+        0.7751705265512222
+      ],
+      "rotation_wxyz": [
+        0.760825009509071,
+        -0.0003447147304994234,
+        0.000377295071286417,
+        0.6489568889577383
+      ],
+      "yaw_degrees_local": 80.86730607370583,
+      "yaw_radians": 1.4124254205313094,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.650609266262647,
+        8.604961861815653,
+        0.8097702535340575
+      ],
+      "z_min": 0.7405637371008389,
+      "z_max": 0.8097631910665094
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        4.833396075307759,
+        8.532545763144185,
+        0.9728779527886744
+      ],
+      "rotation_wxyz": [
+        0.6391230032604255,
+        0.0,
+        0.0,
+        0.7691045356148761
+      ],
+      "yaw_degrees_local": 10.547089789663062,
+      "yaw_radians": 1.7548777701279934,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.833396075307759,
+        8.532545763144185,
+        1.0254269816478925
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.025298086614768
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        3.600285217009383,
+        8.514716432708132,
+        0.745031286582513
+      ],
+      "rotation_wxyz": [
+        0.0869613430278642,
+        1.901105902851661e-05,
+        0.0005107038240261441,
+        0.9962115556642445
+      ],
+      "yaw_degrees_local": 169.96364974354407,
+      "yaw_radians": 2.967450012856066,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.600285217009383,
+        8.514716432708132,
+        0.7494553160510667
+      ],
+      "z_min": 0.7406616272376607,
+      "z_max": 0.7495096861747681
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.8377810529009904,
+        8.873016763428437,
+        0.7797408198731497
+      ],
+      "rotation_wxyz": [
+        0.41406589635415314,
+        -0.00026764405037428627,
+        -0.00043536935875134706,
+        -0.9102467645076339
+      ],
+      "yaw_degrees_local": -131.13769302518278,
+      "yaw_radians": -2.287760068656781,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8377810529009904,
+        8.873016763428437,
+        0.8190896791990255
+      ],
+      "z_min": 0.7403948559152134,
+      "z_max": 0.819092574566965
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.5022294129840743,
+        8.629173297156663,
+        0.8408150207490324
+      ],
+      "rotation_wxyz": [
+        0.46621732125936843,
+        -0.0002924705731344699,
+        -0.0004190951921589023,
+        -0.8846700787174406
+      ],
+      "yaw_degrees_local": -124.4806355828299,
+      "yaw_radians": -2.171572468675784,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5022294129840743,
+        8.629173297156663,
+        0.9410319008116823
+      ],
+      "z_min": 0.7405580152707538,
+      "z_max": 0.9409917753960538
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.0128145332246006,
+        8.258555185658954,
+        0.7884189394736556
+      ],
+      "rotation_wxyz": [
+        0.9711286953439241,
+        -0.0004773622271483225,
+        0.00018249690499377229,
+        0.2385556452901334
+      ],
+      "yaw_degrees_local": 27.543911361814082,
+      "yaw_radians": 0.4817563877079407,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0128145332246006,
+        8.258555185658954,
+        0.835871465212636
+      ],
+      "z_min": 0.740995889900227,
+      "z_max": 0.8359009413781879
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.259832618700716,
+        8.85111108862809,
+        0.8011648020128688
+      ],
+      "rotation_wxyz": [
+        0.6889551878274538,
+        -0.00039529688101558287,
+        -0.00032391386524763754,
+        -0.7248037582586212
+      ],
+      "yaw_degrees_local": -92.96377672687936,
+      "yaw_radians": -1.621499260556736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.259832618700716,
+        8.85111108862809,
+        0.8617916684681284
+      ],
+      "z_min": 0.7404903112107865,
+      "z_max": 0.8617440441213057
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        2.521737622015697,
+        8.25361152077789,
+        0.7709712448656159
+      ],
+      "rotation_wxyz": [
+        0.9255229453114914,
+        -0.0004933377461279931,
+        -0.00013340796260217927,
+        -0.3786911888625429
+      ],
+      "yaw_degrees_local": -44.56398738837217,
+      "yaw_radians": -0.7767633656169237,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.521737622015697,
+        8.25361152077789,
+        0.8008548824832649
+      ],
+      "z_min": 0.7410631147699926,
+      "z_max": 0.8008303900052905
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.0034724261992034,
+        8.411193918785889,
+        0.7466193780108678
+      ],
+      "rotation_wxyz": [
+        0.8705877957985676,
+        -0.00041031968204677873,
+        0.0003046597688657677,
+        0.4920128338029156
+      ],
+      "yaw_degrees_local": 58.887228779035524,
+      "yaw_radians": 1.0288005260031476,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0034724261992034,
+        8.411193918785889,
+        0.7522682292241498
+      ],
+      "z_min": 0.7409689417410809,
+      "z_max": 0.7522666441676451
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.836077213704146,
+        8.230769582386527,
+        0.7949565011379032
+      ],
+      "rotation_wxyz": [
+        0.9861544831075219,
+        -0.0004895893513463805,
+        0.0001465676747736112,
+        0.16582844830462698
+      ],
+      "yaw_degrees_local": 19.032020269821203,
+      "yaw_radians": 0.33319590014250344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.836077213704146,
+        8.230769582386527,
+        0.8488767034313014
+      ],
+      "z_min": 0.741046467158077,
+      "z_max": 0.8488868717448733
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.5726231114234723,
+        8.189159543420818,
+        0.7776508899192532
+      ],
+      "rotation_wxyz": [
+        0.9997007266410994,
+        -0.0005085136204024502,
+        5.092851956915126e-05,
+        -0.024458045168040374
+      ],
+      "yaw_degrees_local": -2.861675813025215,
+      "yaw_radians": -0.04892101415591376,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5726231114234723,
+        8.189159543420818,
+        0.8142611029884319
+      ],
+      "z_min": 0.7409953391949685,
+      "z_max": 0.8142157653333258
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.557894517294596,
+        8.883104060160889,
+        0.8702445963156785
+      ],
+      "rotation_wxyz": [
+        0.43428839272823677,
+        -0.0002772990797109978,
+        -0.00042928433075497445,
+        -0.9007737400489142
+      ],
+      "yaw_degrees_local": -128.578659514089,
+      "yaw_radians": -2.243096498494836,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.557894517294596,
+        8.883104060160889,
+        1.0004117458304478
+      ],
+      "z_min": 0.7402934332000424,
+      "z_max": 1.0006277322295807
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.692417124739503,
+        8.289350784278644,
+        0.7410052259519193
+      ],
+      "rotation_wxyz": [
+        0.15731995603100898,
+        -1.7217785537097902e-05,
+        0.0005107674266253782,
+        0.987547553414308
+      ],
+      "yaw_degrees_local": 161.83854526119757,
+      "yaw_radians": 2.8256402592551733,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.692417124739503,
+        8.289350784278644,
+        0.7910053198292348
+      ],
+      "z_min": 0.7410052259519193,
+      "z_max": 0.8410054137065504
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.408897586971605,
+        8.645838765212481,
+        0.7464931412587466
+      ],
+      "rotation_wxyz": [
+        0.8696221884747264,
+        -0.0004722765608919768,
+        -0.00019528099311597004,
+        -0.493717518559562
+      ],
+      "yaw_degrees_local": -59.22915404311547,
+      "yaw_radians": -1.0327188077902842,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.408897586971605,
+        8.645838765212481,
+        0.7523103540253189
+      ],
+      "z_min": 0.7405528885964369,
+      "z_max": 0.7521873141295815
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        2.02413518200665,
+        8.665994534011041,
+        0.7517279465298664
+      ],
+      "rotation_wxyz": [
+        0.06542836860899894,
+        -9.639456188746852e-05,
+        -0.0005018843538892558,
+        -0.9978571377714092
+      ],
+      "yaw_degrees_local": -172.55581101013212,
+      "yaw_radians": -3.0106424830612406,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.02413518200665,
+        8.665994534011041,
+        0.7626073667330027
+      ],
+      "z_min": 0.7407078995688618,
+      "z_max": 0.7624667399751344
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        4.874456812462173,
+        8.778728061804651,
+        0.9254872400495995
+      ],
+      "rotation_wxyz": [
+        -0.18268658749166422,
+        0.0,
+        0.0,
+        0.9831712011397865
+      ],
+      "yaw_degrees_local": 111.05257039316837,
+      "yaw_radians": -2.774155984221128,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.874456812462173,
+        8.778728061804651,
+        0.9307882306807129
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308020101585588
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.1187481681236817,
+        8.926622521113853,
+        0.8183914114390742
+      ],
+      "rotation_wxyz": [
+        0.9996902510425861,
+        -0.0005053825551722468,
+        7.594925389945261e-05,
+        0.024882539874278266
+      ],
+      "yaw_degrees_local": 2.792913300955803,
+      "yaw_radians": 0.049770133854336235,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1187481681236817,
+        8.926622521113853,
+        0.8963849359095725
+      ],
+      "z_min": 0.7404316096733145,
+      "z_max": 0.8964186586143109
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.119277904988246,
+        8.260861996916029,
+        0.8091601082486971
+      ],
+      "rotation_wxyz": [
+        0.43784621111189054,
+        -0.0002789940898156408,
+        -0.0004281846728787181,
+        -0.8990497395779312
+      ],
+      "yaw_degrees_local": -128.1256201700685,
+      "yaw_radians": -2.2351894683835845,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.119277904988246,
+        8.260861996916029,
+        0.877215451802283
+      ],
+      "z_min": 0.7411067731263876,
+      "z_max": 0.8772174602335593
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.257721555570905,
+        8.878238073413659,
+        0.774405993419909
+      ],
+      "rotation_wxyz": [
+        0.3210975287158108,
+        -0.00022282955895152224,
+        -0.0004599204321377587,
+        -0.9470459945920171
+      ],
+      "yaw_degrees_local": -142.60008183687083,
+      "yaw_radians": -2.487816512697099,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.257721555570905,
+        8.878238073413659,
+        0.8084045495905878
+      ],
+      "z_min": 0.7403363506062832,
+      "z_max": 0.8083334629476409
+    }
+  ],
+  "variant_index": 58
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0060/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0060/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..34ab9870bfb2044634a09b24b0f903ab5bd97f87
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0060/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3537443125829711177
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.69015264, -0.000304142931, 0.000410702927, 0.723663646)
+            double3 xformOp:translate = (2.00465830418, 8.34253281777, 0.741038426835)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.254039303, -6.75551337e-05, 0.000506572917, 0.967193761)
+            double3 xformOp:translate = (3.2165916704, 8.59569104533, 0.740628109305)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.71667127, -0.000407616799, -0.000308266705, -0.697410947)
+            double3 xformOp:translate = (3.78020914014, 8.62940246709, 0.746462765891)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964622189, -0.000472473841, 0.000194803199, 0.263635677)
+            double3 xformOp:translate = (3.56599652278, 8.56221902945, 0.748035778277)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.139971813, -0.00013370882, -0.00049325629, -0.990155357)
+            double3 xformOp:translate = (3.41977799468, 8.4804423428, 0.801393779803)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.237833488, -0.000182141907, -0.000477497792, -0.971305807)
+            double3 xformOp:translate = (1.92953726664, 8.84733027038, 0.749569877234)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.780091397, -0.000355960554, 0.000366704105, 0.625665367)
+            double3 xformOp:translate = (3.57825191169, 8.81718698749, 0.779703625741)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0405509563, -8.38624648e-05, -0.000504129848, -0.999177341)
+            double3 xformOp:translate = (1.7668020543, 8.44199319185, 0.777623257449)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.966289768, -0.000473710954, 0.000191775255, 0.257456448)
+            double3 xformOp:translate = (1.86530604153, 8.57752921584, 0.743938672942)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955755339, -0.00046604344, 0.000209722026, 0.29416232)
+            double3 xformOp:translate = (2.20479308085, 8.24918508837, 0.771699762519)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.741593902, -0.00033357546, 0.000387178549, 0.670848882)
+            double3 xformOp:translate = (2.3546092237, 8.29284295387, 0.756250169779)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.934313991, -0.000451224187, 0.00023995114, 0.356450706)
+            double3 xformOp:translate = (3.64723578318, 8.49446528207, 0.789541808672)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0395747048, 0, 0, 0.999216615)
+            double3 xformOp:translate = (4.90742568847, 8.09944525939, 0.923320958194)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.898082993, -0.000427569017, 0.000279936693, 0.439825733)
+            double3 xformOp:translate = (3.33238444073, 8.25718242404, 0.753467166233)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952287226, -0.000463585281, 0.000215101148, 0.305202848)
+            double3 xformOp:translate = (1.70810821265, 8.60226890922, 0.76741181383)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97160643, -0.000507706013, -5.84330445e-05, -0.236602376)
+            double3 xformOp:translate = (1.78562371763, 8.31371765704, 0.781658953661)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991388603, -0.000494453111, 0.00012921276, 0.130951812)
+            double3 xformOp:translate = (2.871869625, 8.19610109667, 0.747017321718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.690635376, -0.000304416919, 0.000410499885, 0.723202956)
+            double3 xformOp:translate = (2.89425891602, 8.30572639985, 0.757740626569)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.450177198, -0.000171723863, 0.000481342634, 0.892939096)
+            double3 xformOp:translate = (2.74329830785, 8.24515118089, 0.748461595477)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.915306807, -0.000438651813, 0.000262229676, 0.402756983)
+            double3 xformOp:translate = (3.71552393276, 8.28851611259, 0.774946104334)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987086767, -0.000490419599, 0.0001437652, 0.160185685)
+            double3 xformOp:translate = (2.24897718813, 8.87147560932, 0.840690539475)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.588563677, -0.000349685823, -0.000372692422, -0.808450702)
+            double3 xformOp:translate = (3.41260143612, 8.87030940499, 0.747305758111)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978555944, -0.000509290316, -4.24639932e-05, -0.205980591)
+            double3 xformOp:translate = (3.55712518908, 8.3325339206, 0.753863868103)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.793056799, -0.000440761581, -0.000258667827, -0.609147479)
+            double3 xformOp:translate = (3.11985618678, 8.21462619888, 0.789892450061)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.336510664, -0.000110994018, 0.000498858842, 0.941679517)
+            double3 xformOp:translate = (3.60772446628, 8.68368345175, 0.818449153095)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.861310504, -0.000404597239, 0.000312219299, 0.50807869)
+            double3 xformOp:translate = (3.12986808582, 8.8721301362, 0.746087231124)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925947511, -0.000445638305, 0.000250172575, 0.377651884)
+            double3 xformOp:translate = (2.59589101369, 8.87431244537, 0.810595877774)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999989347, -0.000506819942, 6.5676197e-05, 0.00458736942)
+            double3 xformOp:translate = (2.96938231559, 8.86998361371, 0.821570968557)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999855672, -0.000508118557, 5.47297781e-05, -0.0169815644)
+            double3 xformOp:translate = (1.7269908439, 8.70907585693, 0.821891578773)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.385487667, -0.000253941307, -0.000443501554, -0.922712847)
+            double3 xformOp:translate = (3.18063077714, 8.45609529524, 0.746061465002)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0060/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0060/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c3ae21d2a6cfe733c419fcf7c06cc107bc1b76
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0060/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3537443125829711177,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 7,
+    "office_supply": 3,
+    "small object": 5,
+    "book": 3,
+    "small electronic device": 1,
+    "small prop": 1,
+    "clock": 2,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 223,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        2.0046583041762482,
+        8.342532817770975,
+        0.7410384268354346
+      ],
+      "rotation_wxyz": [
+        0.6901526400979275,
+        -0.00030414293064747253,
+        0.00041070292667264903,
+        0.723663645754051
+      ],
+      "yaw_degrees_local": 92.65688957258487,
+      "yaw_radians": 1.618192575744568,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0046583041762482,
+        8.342532817770975,
+        0.9185384214710166
+      ],
+      "z_min": 0.7410384268354346,
+      "z_max": 1.0960384161065986
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.2165916704002337,
+        8.595691045330847,
+        0.7406281093047692
+      ],
+      "rotation_wxyz": [
+        0.25403930346004044,
+        -6.755513371702501e-05,
+        0.0005065729169120547,
+        0.967193760896813
+      ],
+      "yaw_degrees_local": 150.50795198143976,
+      "yaw_radians": 2.6278841861013773,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2165916704002337,
+        8.595691045330847,
+        0.7631251210185522
+      ],
+      "z_min": 0.7406281122997037,
+      "z_max": 0.7856221357272698
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.7802091401406335,
+        8.629402467088788,
+        0.7464627658913705
+      ],
+      "rotation_wxyz": [
+        0.7166712699758966,
+        -0.00040761679905980923,
+        -0.00030826670492375215,
+        -0.6974109474415494
+      ],
+      "yaw_degrees_local": -88.49802753010815,
+      "yaw_radians": -1.5435571938582564,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7802091401406335,
+        8.629402467088788,
+        0.7522799786579428
+      ],
+      "z_min": 0.7405225132290608,
+      "z_max": 0.7521569387622055
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.5659965227776667,
+        8.562219029447673,
+        0.7480357782767495
+      ],
+      "rotation_wxyz": [
+        0.9646221894699213,
+        -0.00047247384053050615,
+        0.00019480319877934884,
+        0.26363567740812194
+      ],
+      "yaw_degrees_local": 30.513094233653334,
+      "yaw_radians": 0.5335783967410497,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5659965227776667,
+        8.562219029447673,
+        0.755575680919849
+      ],
+      "z_min": 0.7406177945838377,
+      "z_max": 0.7556975998700366
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.4197779946769256,
+        8.480442342800227,
+        0.8013937798032772
+      ],
+      "rotation_wxyz": [
+        0.1399718133938061,
+        -0.00013370882014883726,
+        -0.0004932562900305666,
+        -0.990155356636237
+      ],
+      "yaw_degrees_local": -163.96627787631064,
+      "yaw_radians": -2.8607269102817035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4197779946769256,
+        8.480442342800227,
+        0.8620206462585368
+      ],
+      "z_min": 0.7407192890011949,
+      "z_max": 0.8619730219117141
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        1.9295372666431636,
+        8.847330270383386,
+        0.7495698772343112
+      ],
+      "rotation_wxyz": [
+        0.23783348764816434,
+        -0.0001821419074588343,
+        -0.0004774977924426144,
+        -0.9713058071345473
+      ],
+      "yaw_degrees_local": -152.5412942563291,
+      "yaw_radians": -2.6613233841858444,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9295372666431636,
+        8.847330270383386,
+        0.7584031233377935
+      ],
+      "z_min": 0.7405359676545119,
+      "z_max": 0.7582024598614764
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.5782519116881373,
+        8.817186987485027,
+        0.7797036257409232
+      ],
+      "rotation_wxyz": [
+        0.7800913968784035,
+        -0.00035596055353866944,
+        0.000366704104919425,
+        0.6256653668987003
+      ],
+      "yaw_degrees_local": 77.40338217146211,
+      "yaw_radians": 1.3519685120983918,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5782519116881373,
+        8.817186987485027,
+        0.8190524850667991
+      ],
+      "z_min": 0.7403576617829869,
+      "z_max": 0.8190553804347386
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        1.766802054304513,
+        8.441993191847116,
+        0.7776232574487042
+      ],
+      "rotation_wxyz": [
+        0.040550956321004576,
+        -8.386246475835225e-05,
+        -0.0005041298476037367,
+        -0.9991773409969003
+      ],
+      "yaw_degrees_local": -175.4106380470207,
+      "yaw_radians": -3.0604685911251632,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.766802054304513,
+        8.441993191847116,
+        0.8142334705178829
+      ],
+      "z_min": 0.7409677067244195,
+      "z_max": 0.8141881328627768
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        1.8653060415297076,
+        8.577529215841114,
+        0.743938672942468
+      ],
+      "rotation_wxyz": [
+        0.9662897683645458,
+        -0.00047371095396852485,
+        0.00019177525473987192,
+        0.2574564475288517
+      ],
+      "yaw_degrees_local": 29.779673773537837,
+      "yaw_radians": 0.5207777966803404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8653060415297076,
+        8.577529215841114,
+        0.7469511894276274
+      ],
+      "z_min": 0.7408177436450025,
+      "z_max": 0.7468427766153213
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.2047930808467053,
+        8.249185088367826,
+        0.7716997625192521
+      ],
+      "rotation_wxyz": [
+        0.95575533930203,
+        -0.0004660434399558375,
+        0.0002097220262977694,
+        0.2941623195037827
+      ],
+      "yaw_degrees_local": 34.15592056277961,
+      "yaw_radians": 0.5971577039457017,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2047930808467053,
+        8.249185088367826,
+        0.8023021640246448
+      ],
+      "z_min": 0.7411077617858766,
+      "z_max": 0.8023125647966621
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        2.354609223699082,
+        8.292842953871173,
+        0.7562501697791965
+      ],
+      "rotation_wxyz": [
+        0.7415939024823661,
+        -0.0003335754596023151,
+        0.00038717854923977504,
+        0.6708488821047248
+      ],
+      "yaw_degrees_local": 84.20653467875496,
+      "yaw_radians": 1.4707059845908854,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.354609223699082,
+        8.292842953871173,
+        0.7714186467317279
+      ],
+      "z_min": 0.7410444926635331,
+      "z_max": 0.771381446568596
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.6472357831809736,
+        8.49446528206968,
+        0.7895418086721255
+      ],
+      "rotation_wxyz": [
+        0.9343139905738796,
+        -0.0004512241867414269,
+        0.00023995113990112754,
+        0.35645070604235907
+      ],
+      "yaw_degrees_local": 41.70605733803532,
+      "yaw_radians": 0.7289324499142574,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6472357831809736,
+        8.49446528206968,
+        0.8384092731780747
+      ],
+      "z_min": 0.7406762411598073,
+      "z_max": 0.8384111701717057
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        4.907425688468696,
+        8.099445259393551,
+        0.9233209581937972
+      ],
+      "rotation_wxyz": [
+        0.03957470480572628,
+        0.0,
+        0.0,
+        0.9992166145233674
+      ],
+      "yaw_degrees_local": 85.46388830843176,
+      "yaw_radians": 3.0624225693337177,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.907425688468696,
+        8.099445259393551,
+        0.9263334746789567
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9262250618666505
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        3.3323844407323118,
+        8.257182424036506,
+        0.7534671662327829
+      ],
+      "rotation_wxyz": [
+        0.8980829934047329,
+        -0.0004275690166543217,
+        0.0002799366932675476,
+        0.43982573341879233
+      ],
+      "yaw_degrees_local": 52.12682245854015,
+      "yaw_radians": 0.9108091413410472,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3323844407323118,
+        8.257182424036506,
+        0.7660379889980478
+      ],
+      "z_min": 0.7409567740969314,
+      "z_max": 0.7660984196274611
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.7081082126496552,
+        8.602268909216718,
+        0.7674118138297588
+      ],
+      "rotation_wxyz": [
+        0.9522872258280284,
+        -0.00046358528080111573,
+        0.00021510114752102847,
+        0.3052028478650575
+      ],
+      "yaw_degrees_local": 35.48203064136615,
+      "yaw_radians": 0.6203026897965924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7081082126496552,
+        8.602268909216718,
+        0.7939862984858328
+      ],
+      "z_min": 0.740812581257093,
+      "z_max": 0.793961550569241
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        1.7856237176320273,
+        8.313717657039183,
+        0.781658953661496
+      ],
+      "rotation_wxyz": [
+        0.9716064298975715,
+        -0.0005077060129205527,
+        -5.843304445797943e-05,
+        -0.23660237573168888
+      ],
+      "yaw_degrees_local": -27.430906420140076,
+      "yaw_radians": -0.47773477408329235,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7856237176320273,
+        8.313717657039183,
+        0.8222089628010275
+      ],
+      "z_min": 0.741095425214931,
+      "z_max": 0.822195443493994
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.871869624998177,
+        8.196101096666453,
+        0.7470173217180411
+      ],
+      "rotation_wxyz": [
+        0.9913886028595685,
+        -0.0004944531108909389,
+        0.00012921276009197205,
+        0.13095181151987473
+      ],
+      "yaw_degrees_local": 14.990486183167093,
+      "yaw_radians": 0.2626578479507077,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.871869624998177,
+        8.196101096666453,
+        0.7528345344846135
+      ],
+      "z_min": 0.7410770690557315,
+      "z_max": 0.7527114945888761
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        2.8942589160158527,
+        8.305726399848705,
+        0.7577406265691665
+      ],
+      "rotation_wxyz": [
+        0.6906353761502464,
+        -0.000304416918728362,
+        0.00041049988530113187,
+        0.7232029563200026
+      ],
+      "yaw_degrees_local": 92.58042436881078,
+      "yaw_radians": 1.6168580055187536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8942589160158527,
+        8.305726399848705,
+        0.7746916417615719
+      ],
+      "z_min": 0.7409630524585142,
+      "z_max": 0.7748650828433251
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.743298307853931,
+        8.245151180892881,
+        0.7484615954767607
+      ],
+      "rotation_wxyz": [
+        0.4501771980284525,
+        -0.0001717238630655344,
+        0.000481342633779891,
+        0.8929390960168759
+      ],
+      "yaw_degrees_local": 126.43117531763045,
+      "yaw_radians": 2.2076652374529866,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.743298307853931,
+        8.245151180892881,
+        0.7560014981198602
+      ],
+      "z_min": 0.7410436117838489,
+      "z_max": 0.7561234170700478
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.7155239327611684,
+        8.288516112594966,
+        0.7749461043341577
+      ],
+      "rotation_wxyz": [
+        0.9153068072540431,
+        -0.00043865181297185533,
+        0.00026222967646095485,
+        0.402756983073657
+      ],
+      "yaw_degrees_local": 47.44258481801725,
+      "yaw_radians": 0.8290537542662962,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7155239327611684,
+        8.288516112594966,
+        0.8089446605048365
+      ],
+      "z_min": 0.7408764615205319,
+      "z_max": 0.8088735738618895
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.248977188132246,
+        8.871475609315846,
+        0.8406905394747592
+      ],
+      "rotation_wxyz": [
+        0.9870867668025416,
+        -0.0004904195994179336,
+        0.0001437652000557374,
+        0.16018568482698137
+      ],
+      "yaw_degrees_local": 18.376640395123417,
+      "yaw_radians": 0.3217573671753157,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.248977188132246,
+        8.871475609315846,
+        0.9407792405667723
+      ],
+      "z_min": 0.7404710529105639,
+      "z_max": 0.9406484550945899
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.4126014361223835,
+        8.870309404994767,
+        0.7473057581113844
+      ],
+      "rotation_wxyz": [
+        0.5885636768571801,
+        -0.00034968582327523474,
+        -0.00037269242176442757,
+        -0.8084507017156587
+      ],
+      "yaw_degrees_local": -107.94840258496032,
+      "yaw_radians": -1.8830304531385267,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4126014361223835,
+        8.870309404994767,
+        0.754289038920225
+      ],
+      "z_min": 0.7403247545125027,
+      "z_max": 0.7542913161301839
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        3.5571251890792093,
+        8.33253392059869,
+        0.7538638681030307
+      ],
+      "rotation_wxyz": [
+        0.9785559437725047,
+        -0.0005092903155622924,
+        -4.2463993156240776e-05,
+        -0.20598059065767998
+      ],
+      "yaw_degrees_local": -23.83252939157643,
+      "yaw_radians": -0.41493127342236796,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5571251890792093,
+        8.33253392059869,
+        0.7668396872127929
+      ],
+      "z_min": 0.7408518755419017,
+      "z_max": 0.7668035137614261
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.1198561867822927,
+        8.214626198876722,
+        0.7898924500605359
+      ],
+      "rotation_wxyz": [
+        0.7930567994086838,
+        -0.00044076158117881115,
+        -0.0002586678271394935,
+        -0.6091474794594809
+      ],
+      "yaw_degrees_local": -75.11449326348023,
+      "yaw_radians": -1.3099703514374603,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1198561867822927,
+        8.214626198876722,
+        0.838759914566485
+      ],
+      "z_min": 0.7410268825482177,
+      "z_max": 0.8387618115601161
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.607724466280374,
+        8.683683451746479,
+        0.8184491530951187
+      ],
+      "rotation_wxyz": [
+        0.3365106639292903,
+        -0.00011099401779454381,
+        0.0004988588420125849,
+        0.941679516545864
+      ],
+      "yaw_degrees_local": 140.61243054137992,
+      "yaw_radians": 2.4551748078729814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.607724466280374,
+        8.683683451746479,
+        0.8964426775656169
+      ],
+      "z_min": 0.7404893513293589,
+      "z_max": 0.8964764002703554
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.129868085820383,
+        8.872130136197319,
+        0.7460872311235406
+      ],
+      "rotation_wxyz": [
+        0.8613105037618182,
+        -0.00040459723851861277,
+        0.0003122192992488219,
+        0.5080786897024387
+      ],
+      "yaw_degrees_local": 61.013171936314535,
+      "yaw_radians": 1.0659052473316117,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.129868085820383,
+        8.872130136197319,
+        0.7517143580137594
+      ],
+      "z_min": 0.740358729846336,
+      "z_max": 0.7516129836267736
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.595891013688747,
+        8.874312445374825,
+        0.8105958777742116
+      ],
+      "rotation_wxyz": [
+        0.9259475110926992,
+        -0.00044563830534633057,
+        0.0002501725745327878,
+        0.37765188404325434
+      ],
+      "yaw_degrees_local": 44.31791686318604,
+      "yaw_radians": 0.7745180025177067,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.595891013688747,
+        8.874312445374825,
+        0.8807722440061305
+      ],
+      "z_min": 0.7404242056339915,
+      "z_max": 0.8807769380978292
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.969382315587989,
+        8.86998361371392,
+        0.8215709685571927
+      ],
+      "rotation_wxyz": [
+        0.999989347374259,
+        -0.0005068199417765432,
+        6.567619704226183e-05,
+        0.0045873694191316955
+      ],
+      "yaw_degrees_local": 0.4669653066787589,
+      "yaw_radians": 0.00917470332921663,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.969382315587989,
+        8.86998361371392,
+        0.9028148218505576
+      ],
+      "z_min": 0.7403812800633061,
+      "z_max": 0.902868986650036
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        1.7269908439012611,
+        8.709075856931387,
+        0.8218915787731694
+      ],
+      "rotation_wxyz": [
+        0.9998556722296025,
+        -0.0005081185566632628,
+        5.47297781354465e-05,
+        -0.016981564429514207
+      ],
+      "yaw_degrees_local": -2.004748154695619,
+      "yaw_radians": -0.03396481277191777,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7269908439012611,
+        8.709075856931387,
+        0.9031354320665343
+      ],
+      "z_min": 0.7407018902792828,
+      "z_max": 0.9031895968660127
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.180630777142129,
+        8.456095295244758,
+        0.7460614650018293
+      ],
+      "rotation_wxyz": [
+        0.38548766704662013,
+        -0.0002539413073724917,
+        -0.00044350155428167596,
+        -0.9227128466511877
+      ],
+      "yaw_degrees_local": -134.71066704132355,
+      "yaw_radians": -2.3501202396615772,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.180630777142129,
+        8.456095295244758,
+        0.7513624556329428
+      ],
+      "z_min": 0.7407742538485617,
+      "z_max": 0.7513762351107887
+    }
+  ],
+  "variant_index": 60
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0061/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0061/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..2f60b8591236b57327f03a60a632df460dc49c70
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0061/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6856493804894119908
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999967384, 0, 0, 0.0080766005)
+            double3 xformOp:translate = (4.91487074466, 8.13636180209, 0.920200028896)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.106834159, 8.81066439e-06, 0.000510981593, 0.994276723)
+            double3 xformOp:translate = (2.58883159773, 8.24003784657, 0.741068362128)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.38240348, -0.000135387302, 0.000492798229, 0.923995302)
+            double3 xformOp:translate = (2.76370442827, 8.31108157049, 0.74867034645)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.893715893, -0.000481638739, -0.000170891606, -0.448633081)
+            double3 xformOp:translate = (3.16148787529, 8.34236894686, 0.747873028681)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.824790263, -0.000382443463, 0.000338993826, 0.565438556)
+            double3 xformOp:translate = (2.90260951835, 8.30061385687, 0.819676782147)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.638017966, -0.000372330359, -0.000350071307, -0.770021307)
+            double3 xformOp:translate = (1.68465680569, 8.36133938882, 0.817209463419)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.255013317, -0.000190577332, -0.000474194155, -0.966937406)
+            double3 xformOp:translate = (3.69708142845, 8.80675398189, 0.74990270112)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.521369949, -0.000210336063, 0.000465766634, 0.853330601)
+            double3 xformOp:translate = (1.95593680987, 8.84069172485, 0.753049749781)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.629225258, -0.000368327657, -0.000354280332, -0.777222821)
+            double3 xformOp:translate = (3.35143985895, 8.39686897208, 0.76583939533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.657553172, -0.00038118451, -0.000340408851, -0.753407967)
+            double3 xformOp:translate = (3.17116538741, 8.52213926822, 0.796868415945)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.426569942, -0.000273618104, -0.000431639838, -0.904454434)
+            double3 xformOp:translate = (3.6526989782, 8.53074254868, 0.807507465294)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.44723462, -0.000170138039, 0.000481905451, 0.894416532)
+            double3 xformOp:translate = (2.67725817366, 8.85636201369, 0.745719279489)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.803527088, -0.000369770858, 0.000352773764, 0.595267971)
+            double3 xformOp:translate = (1.78840098704, 8.41413013622, 0.767592457043)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.828545142, -0.000384697097, 0.000336434184, 0.559922036)
+            double3 xformOp:translate = (2.90310943412, 8.84434169032, 0.787939469547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996793913, -0.000500421408, 0.000103721893, 0.0800102153)
+            double3 xformOp:translate = (3.38823212724, 8.89930099018, 0.816448000551)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.291073721, -0.000208215625, -0.000466718405, -0.95670049)
+            double3 xformOp:translate = (3.20392655237, 8.25657009772, 0.744013089466)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.800545836, -0.00044393373, -0.00025318503, -0.599271311)
+            double3 xformOp:translate = (1.88962643799, 8.6762084432, 0.835588122806)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.391827781, -0.000140417185, 0.000491388676, 0.920038439)
+            double3 xformOp:translate = (1.78285153563, 8.22872938664, 0.741181953103)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982387407, -0.000510021683, -3.25222816e-05, -0.186854814)
+            double3 xformOp:translate = (2.28084445556, 8.2744869264, 0.787662706275)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.637414113, -0.000372055807, -0.000350363087, -0.770521244)
+            double3 xformOp:translate = (1.99085135152, 8.65149315768, 0.818094376455)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.749923683, 0, 0, -0.661524353)
+            double3 xformOp:translate = (4.99163981357, 8.24924215065, 0.992972247698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.819174154, -0.000451750649, -0.000238958506, -0.573544631)
+            double3 xformOp:translate = (3.25876053863, 8.89195918872, 0.770914301486)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0597411548, -9.3533078e-05, -0.000502425497, -0.998213771)
+            double3 xformOp:translate = (2.29033941768, 8.85122110493, 0.746136741911)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.524184513, -0.000211872719, 0.000465069637, 0.851604565)
+            double3 xformOp:translate = (1.88605139927, 8.37465498286, 0.818980717619)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.237118715, -5.87028632e-05, 0.000507674886, 0.971480547)
+            double3 xformOp:translate = (2.06951025978, 8.37048265572, 0.787578786057)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.556053832, -0.000229330212, 0.000456713773, 0.831146121)
+            double3 xformOp:translate = (3.1608809874, 8.7911855319, 0.779782878618)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.575124389, -0.000239829841, 0.00045128867, 0.818065814)
+            double3 xformOp:translate = (3.43481688744, 8.75317117088, 0.77451040212)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.803132273, -0.000369536902, 0.00035301883, 0.595800546)
+            double3 xformOp:translate = (1.97029129236, 8.51458552826, 0.746225009811)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.884687158, -0.000478172042, -0.000180364395, -0.466184911)
+            double3 xformOp:translate = (3.61943746594, 8.24404847208, 0.822123449403)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.194802916, -3.66507761e-05, 0.000509741637, 0.980842272)
+            double3 xformOp:translate = (1.98833543201, 8.25990249554, 0.806428648888)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0061/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0061/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a302822b38b91442a871d18ad407e3977bf497
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0061/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6856493804894119908,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 7,
+    "electronics": 7,
+    "office_supply": 2,
+    "timepiece": 1,
+    "clock": 5,
+    "office_supplies": 1,
+    "paper_goods": 1,
+    "small object": 3,
+    "writing_instrument": 1,
+    "small prop": 1
+  },
+  "failed_sampling_attempt_count": 118,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        4.914870744656242,
+        8.13636180208737,
+        0.9202000288963318
+      ],
+      "rotation_wxyz": [
+        0.9999673837302909,
+        0.0,
+        0.0,
+        0.008076600497569697
+      ],
+      "yaw_degrees_local": -89.07447969499015,
+      "yaw_radians": 0.016153376616484083,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.914870744656242,
+        8.13636180208737,
+        1.0702000348567964
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2202000408172609
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.588831597729753,
+        8.240037846567956,
+        0.7410683621275014
+      ],
+      "rotation_wxyz": [
+        0.10683415868718123,
+        8.810664393829563e-06,
+        0.0005109815930473933,
+        0.9942767227275243
+      ],
+      "yaw_degrees_local": 167.6755867655251,
+      "yaw_radians": 2.927515801048081,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.588831597729753,
+        8.240037846567956,
+        0.7635653738412844
+      ],
+      "z_min": 0.7410683651224359,
+      "z_max": 0.786062388550002
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        2.7637044282701546,
+        8.311081570494592,
+        0.7486703464504713
+      ],
+      "rotation_wxyz": [
+        0.3824034798769709,
+        -0.0001353873016687849,
+        0.0004927982292857372,
+        0.9239953016104396
+      ],
+      "yaw_degrees_local": 134.97600455888966,
+      "yaw_radians": 2.3568006339361247,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7637044282701546,
+        8.311081570494592,
+        0.7565252527942719
+      ],
+      "z_min": 0.7409741577282509,
+      "z_max": 0.7566839704158521
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.1614878752888975,
+        8.342368946860004,
+        0.7478730286812729
+      ],
+      "rotation_wxyz": [
+        0.8937158929327507,
+        -0.00048163873924960543,
+        -0.00017089160627240652,
+        -0.4486330811917465
+      ],
+      "yaw_degrees_local": -53.3707531882349,
+      "yaw_radians": -0.9304704163285018,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1614878752888975,
+        8.342368946860004,
+        0.7548563094901135
+      ],
+      "z_min": 0.7408920250823912,
+      "z_max": 0.7548585867000723
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        2.902609518346123,
+        8.300613856867873,
+        0.8196767821468589
+      ],
+      "rotation_wxyz": [
+        0.8247902630920043,
+        -0.0003824434630283101,
+        0.00033899382564764547,
+        0.5654385561038497
+      ],
+      "yaw_degrees_local": 68.80680178140159,
+      "yaw_radians": 1.2019298062462749,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.902609518346123,
+        8.300613856867873,
+        0.8983874449714808
+      ],
+      "z_min": 0.7409672120842338,
+      "z_max": 0.8983885377334777
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.68465680568627,
+        8.36133938881918,
+        0.8172094634189868
+      ],
+      "rotation_wxyz": [
+        0.6380179662464992,
+        -0.0003723303594948983,
+        -0.0003500713065058495,
+        -0.7700213072161476
+      ],
+      "yaw_degrees_local": -100.77033300155018,
+      "yaw_radians": -1.7577494417393404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.68465680568627,
+        8.36133938881918,
+        0.8933954019410729
+      ],
+      "z_min": 0.7410599369317845,
+      "z_max": 0.8934318139759568
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.6970814284532127,
+        8.806753981887454,
+        0.7499027011195943
+      ],
+      "rotation_wxyz": [
+        0.2550133168395916,
+        -0.00019057733237826498,
+        -0.0004741941549870653,
+        -0.966937405965171
+      ],
+      "yaw_degrees_local": -150.5099579978997,
+      "yaw_radians": -2.6258698841951498,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6970814284532127,
+        8.806753981887454,
+        0.7594065340417988
+      ],
+      "z_min": 0.7403531718755954,
+      "z_max": 0.7593608377200041
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        1.9559368098659617,
+        8.840691724854542,
+        0.75304974978112
+      ],
+      "rotation_wxyz": [
+        0.5213699491943266,
+        -0.00021033606283239357,
+        0.00046576663353280255,
+        0.8533306011724232
+      ],
+      "yaw_degrees_local": 117.09290059942668,
+      "yaw_radians": 2.0446815793726163,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9559368098659617,
+        8.840691724854542,
+        0.7656205725463849
+      ],
+      "z_min": 0.7405393576452686,
+      "z_max": 0.7656810031757982
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.3514398589455916,
+        8.396868972083638,
+        0.765839395330367
+      ],
+      "rotation_wxyz": [
+        0.6292252577363131,
+        -0.00036832765653903733,
+        -0.0003542803320377432,
+        -0.7772228212339459
+      ],
+      "yaw_degrees_local": -102.07272518598425,
+      "yaw_radians": -1.780480485252783,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3514398589455916,
+        8.396868972083638,
+        0.7907836369004924
+      ],
+      "z_min": 0.740812691700337,
+      "z_max": 0.7907011748405877
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.171165387411749,
+        8.522139268221533,
+        0.7968684159453585
+      ],
+      "rotation_wxyz": [
+        0.6575531718762653,
+        -0.00038118450985338316,
+        -0.0003404088507782203,
+        -0.7534079671570025
+      ],
+      "yaw_degrees_local": -97.83163801931477,
+      "yaw_radians": -1.706459511880857,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.171165387411749,
+        8.522139268221533,
+        0.8530506957552512
+      ],
+      "z_min": 0.7407084957753943,
+      "z_max": 0.8530730553951796
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        3.6526989781989143,
+        8.530742548682754,
+        0.807507465294206
+      ],
+      "rotation_wxyz": [
+        0.42656994156123296,
+        -0.00027361810395042454,
+        -0.00043163983763189336,
+        -0.9044544343285793
+      ],
+      "yaw_degrees_local": -129.5585511150436,
+      "yaw_radians": -2.2601988371911808,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6526989781989143,
+        8.530742548682754,
+        0.8743587703264875
+      ],
+      "z_min": 0.7406387647998862,
+      "z_max": 0.8743413748644489
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.677258173664664,
+        8.8563620136923,
+        0.7457192794892945
+      ],
+      "rotation_wxyz": [
+        0.44723462038040795,
+        -0.00017013803859945134,
+        0.00048190545137178535,
+        0.8944165322451149
+      ],
+      "yaw_degrees_local": 126.80848607802898,
+      "yaw_radians": 2.2142505526692835,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.677258173664664,
+        8.8563620136923,
+        0.751020270120408
+      ],
+      "z_min": 0.7404320683360268,
+      "z_max": 0.7510340495982538
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.7884009870394895,
+        8.414130136219347,
+        0.7675924570426682
+      ],
+      "rotation_wxyz": [
+        0.8035270883138906,
+        -0.0003697708581742649,
+        0.000352773764168171,
+        0.5952679708887293
+      ],
+      "yaw_degrees_local": 73.00477565404779,
+      "yaw_radians": 1.2751983072151394,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7884009870394895,
+        8.414130136219347,
+        0.7941669416987422
+      ],
+      "z_min": 0.7409932244700025,
+      "z_max": 0.7941421937821505
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        2.903109434115826,
+        8.84434169032281,
+        0.7879394695465839
+      ],
+      "rotation_wxyz": [
+        0.8285451419906212,
+        -0.0003846970965732789,
+        0.00033643418394747285,
+        0.5599220360942453
+      ],
+      "yaw_degrees_local": 68.04211207537332,
+      "yaw_radians": 1.1885834470104455,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.903109434115826,
+        8.84434169032281,
+        0.8354629467468276
+      ],
+      "z_min": 0.7404156661897263,
+      "z_max": 0.8354626205902139
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.3882321272369578,
+        8.89930099017762,
+        0.816448000550742
+      ],
+      "rotation_wxyz": [
+        0.9967939126357445,
+        -0.0005004214075423484,
+        0.00010372189312602974,
+        0.08001021530097226
+      ],
+      "yaw_degrees_local": 9.119596605174934,
+      "yaw_radians": 0.16019153662707852,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3882321272369578,
+        8.89930099017762,
+        0.8926339390728281
+      ],
+      "z_min": 0.7402984740635397,
+      "z_max": 0.892670351107712
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.2039265523684173,
+        8.256570097724707,
+        0.7440130894659482
+      ],
+      "rotation_wxyz": [
+        0.29107372117544883,
+        -0.0002082156246167612,
+        -0.0004667184053642674,
+        -0.9567004900496608
+      ],
+      "yaw_degrees_local": -146.21420771366382,
+      "yaw_radians": -2.5508949062706674,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2039265523684173,
+        8.256570097724707,
+        0.7471250927098239
+      ],
+      "z_min": 0.7409736659491076,
+      "z_max": 0.7471976724368588
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.8896264379942638,
+        8.676208443199977,
+        0.8355881228061723
+      ],
+      "rotation_wxyz": [
+        0.8005458357127365,
+        -0.00044393373032075285,
+        -0.00025318502981774746,
+        -0.599271310629151
+      ],
+      "yaw_degrees_local": -73.69417546289603,
+      "yaw_radians": -1.2851811203255943,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8896264379942638,
+        8.676208443199977,
+        0.9304849688703759
+      ],
+      "z_min": 0.7407146265037576,
+      "z_max": 0.9305083186321649
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7828515356304764,
+        8.228729386640804,
+        0.7411819531032734
+      ],
+      "rotation_wxyz": [
+        0.3918277811357049,
+        -0.00014041718462783732,
+        0.00049138867559347,
+        0.9200384387352813
+      ],
+      "yaw_degrees_local": 133.80472884083974,
+      "yaw_radians": 2.336358018634773,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7828515356304764,
+        8.228729386640804,
+        0.7911820469805889
+      ],
+      "z_min": 0.7411819531032734,
+      "z_max": 0.8411821408579044
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.2808444555574647,
+        8.274486926395088,
+        0.7876627062747531
+      ],
+      "rotation_wxyz": [
+        0.9823874068667906,
+        -0.0005100216833067639,
+        -3.2522281550464866e-05,
+        -0.1868548143605796
+      ],
+      "yaw_degrees_local": -21.597295996452942,
+      "yaw_radians": -0.3759191085771691,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2808444555574647,
+        8.274486926395088,
+        0.8342443095406711
+      ],
+      "z_min": 0.741072472410053,
+      "z_max": 0.834235678941889
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.9908513515225574,
+        8.651493157676931,
+        0.818094376454612
+      ],
+      "rotation_wxyz": [
+        0.6374141130774243,
+        -0.0003720558071770666,
+        -0.00035036308679159406,
+        -0.7705212438796898
+      ],
+      "yaw_degrees_local": -100.86016690126829,
+      "yaw_radians": -1.759317339881747,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9908513515225574,
+        8.651493157676931,
+        0.8954761315879515
+      ],
+      "z_min": 0.7407268590872287,
+      "z_max": 0.8954903693539076
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        4.991639813568688,
+        8.24924215065393,
+        0.9929722476982082
+      ],
+      "rotation_wxyz": [
+        0.7499236827272258,
+        0.0,
+        0.0,
+        -0.6615243533573314
+      ],
+      "yaw_degrees_local": -172.832465027697,
+      "yaw_radians": -1.4456992422763686,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.991639813568688,
+        8.24924215065393,
+        1.065834692304952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0659249181098192
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.258760538628156,
+        8.891959188716726,
+        0.7709143014861107
+      ],
+      "rotation_wxyz": [
+        0.819174153955944,
+        -0.0004517506486296904,
+        -0.00023895850623689181,
+        -0.5735446314897801
+      ],
+      "yaw_degrees_local": -70.05427176035452,
+      "yaw_radians": -1.2216527952162073,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.258760538628156,
+        8.891959188716726,
+        0.8015167029915035
+      ],
+      "z_min": 0.7403223007527352,
+      "z_max": 0.8015271037635208
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.290339417682926,
+        8.851221104933169,
+        0.7461367419105254
+      ],
+      "rotation_wxyz": [
+        0.05974115481273675,
+        -9.353307795367742e-05,
+        -0.0005024254965353807,
+        -0.9982137713144538
+      ],
+      "yaw_degrees_local": -173.20879876618847,
+      "yaw_radians": -3.0220392641526295,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.290339417682926,
+        8.851221104933169,
+        0.7517855931238074
+      ],
+      "z_min": 0.7404863056407385,
+      "z_max": 0.7517840080673027
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.8860513992694052,
+        8.374654982863328,
+        0.8189807176185663
+      ],
+      "rotation_wxyz": [
+        0.5241845133477449,
+        -0.00021187271856708663,
+        0.0004650696371161041,
+        0.8516045647990457
+      ],
+      "yaw_degrees_local": 116.71455776531832,
+      "yaw_radians": 2.038078249933258,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8860513992694052,
+        8.374654982863328,
+        0.8969742420890645
+      ],
+      "z_min": 0.7410209158528065,
+      "z_max": 0.897007964793803
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.069510259776781,
+        8.370482655718336,
+        0.7875787860572637
+      ],
+      "rotation_wxyz": [
+        0.23711871527949296,
+        -5.870286321569498e-05,
+        0.0005076748862122214,
+        0.9714805472496023
+      ],
+      "yaw_degrees_local": 152.5081923921386,
+      "yaw_radians": 2.662794953684186,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.069510259776781,
+        8.370482655718336,
+        0.8339459541931487
+      ],
+      "z_min": 0.7410018867249049,
+      "z_max": 0.8337362229966747
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.160880987402024,
+        8.791185531895458,
+        0.7797828786175771
+      ],
+      "rotation_wxyz": [
+        0.5560538319252938,
+        -0.00022933021205537635,
+        0.00045671377259608534,
+        0.8311461212214019
+      ],
+      "yaw_degrees_local": 112.37461792917264,
+      "yaw_radians": 1.962331992784201,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.160880987402024,
+        8.791185531895458,
+        0.819131737943453
+      ],
+      "z_min": 0.7404369146596408,
+      "z_max": 0.8191346333113925
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.434816887442547,
+        8.753171170876268,
+        0.7745104021198187
+      ],
+      "rotation_wxyz": [
+        0.5751243893988546,
+        -0.00023982984063758336,
+        0.0004512886701215354,
+        0.8180658136964156
+      ],
+      "yaw_degrees_local": 109.72459160838571,
+      "yaw_radians": 1.9160802948771447,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.434816887442547,
+        8.753171170876268,
+        0.8085089582904975
+      ],
+      "z_min": 0.7404407593061929,
+      "z_max": 0.8084378716475505
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        1.97029129236167,
+        8.514585528257362,
+        0.7462250098105759
+      ],
+      "rotation_wxyz": [
+        0.8031322731135614,
+        -0.00036953690215880145,
+        0.0003530188297855923,
+        0.595800546075302
+      ],
+      "yaw_degrees_local": 73.08074523435576,
+      "yaw_radians": 1.2765242271755268,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.97029129236167,
+        8.514585528257362,
+        0.7515401313106569
+      ],
+      "z_min": 0.7408682825772963,
+      "z_max": 0.7514985255774581
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.6194374659379562,
+        8.244048472076893,
+        0.8221234494029099
+      ],
+      "rotation_wxyz": [
+        0.884687157942712,
+        -0.0004781720416421298,
+        -0.00018036439457972265,
+        -0.4661849111580414
+      ],
+      "yaw_degrees_local": -55.63258720686784,
+      "yaw_radians": -0.9699468687565799,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6194374659379562,
+        8.244048472076893,
+        0.903367302696275
+      ],
+      "z_min": 0.7409337609090233,
+      "z_max": 0.9034214674957532
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.9883354320092228,
+        8.25990249553727,
+        0.8064286488881205
+      ],
+      "rotation_wxyz": [
+        0.1948029164569019,
+        -3.665077607859537e-05,
+        0.0005097416373547968,
+        0.980842272009149
+      ],
+      "yaw_degrees_local": 157.47486510178646,
+      "yaw_radians": 2.7494797085915965,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9883354320092228,
+        8.25990249553727,
+        0.871784373249762
+      ],
+      "z_min": 0.741124335405618,
+      "z_max": 0.871835784128901
+    }
+  ],
+  "variant_index": 61
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0062/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0062/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..db13ddcaea5e34aa677b62226be39c15f466b4d8
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0062/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7293581225091752162
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.798637054, -0.000443126759, -0.00025459476, -0.601812757)
+            double3 xformOp:translate = (2.79424697257, 8.29491869247, 0.740986676844)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.756186922, -0.000342020679, 0.000379738951, 0.654355468)
+            double3 xformOp:translate = (1.71030299198, 8.49189628453, 0.740924232749)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.897666472, -0.000483138006, -0.000166605773, -0.440675213)
+            double3 xformOp:translate = (3.12584311853, 8.24018652747, 0.817149740629)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.224454161, -5.20901626e-05, 0.000508395939, 0.974484514)
+            double3 xformOp:translate = (3.49937906043, 8.60628075483, 0.753593541754)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995557187, -0.000498898009, 0.000110817837, 0.0941574555)
+            double3 xformOp:translate = (2.01454377715, 8.85082183337, 0.786534282133)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00464705657, 6.09932548e-05, 0.000507404808, 0.999989072)
+            double3 xformOp:translate = (3.40854528798, 8.22069464769, 0.807852860398)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.812163206, -0.000374900307, 0.000347317687, 0.583430087)
+            double3 xformOp:translate = (2.01822902611, 8.72763156939, 0.793324079274)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.968241964, -0.000506849502, -6.54476748e-05, -0.250014475)
+            double3 xformOp:translate = (3.68182382305, 8.60140997562, 0.788143194508)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0106002157, -6.87225146e-05, -0.000506415869, -0.999943686)
+            double3 xformOp:translate = (3.64820698631, 8.90051388388, 0.754363406494)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.133864877, -0.00013066537, -0.000494071227, -0.990999462)
+            double3 xformOp:translate = (2.09241187949, 8.38453346697, 0.746674513651)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905594014, -0.000486111009, -0.000157720967, -0.424145282)
+            double3 xformOp:translate = (1.98504993375, 8.2977860486, 0.801760817347)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983977922, -0.000487696161, 0.000152749046, 0.178289617)
+            double3 xformOp:translate = (2.42032347622, 8.25238543604, 0.827464494135)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.313744181, -0.000219256491, -0.000461634495, -0.949507413)
+            double3 xformOp:translate = (3.62330294918, 8.30122740359, 0.74391466113)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.349045494, -0.000117640388, 0.000497333445, 0.937105641)
+            double3 xformOp:translate = (3.45409293511, 8.41945619376, 0.740776760686)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925802859, -0.00049343631, -0.000133042941, -0.378006357)
+            double3 xformOp:translate = (3.33032571084, 8.53705080439, 0.821862907793)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.586804466, 0, 0, 0.80972867)
+            double3 xformOp:translate = (4.85913168041, 8.09088467297, 0.95079202963)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.444348984, -0.000282089274, -0.000426151919, -0.895853626)
+            double3 xformOp:translate = (3.48128597776, 8.80512690684, 0.786972416846)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.649987213, -0.000377761814, -0.000344203179, -0.759944973)
+            double3 xformOp:translate = (2.27654536477, 8.28055261861, 0.81977645193)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0497118425, 0, 0, 0.998763602)
+            double3 xformOp:translate = (4.91241272384, 7.68895189644, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.856766496, -0.000467150108, -0.000207245248, -0.515704285)
+            double3 xformOp:translate = (1.97922290975, 8.59808198202, 0.748795237154)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.870264808, 0, 0, -0.49258417)
+            double3 xformOp:translate = (4.83486734256, 8.76607522654, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.23668715, -0.000181578318, -0.000477712393, -0.971585782)
+            double3 xformOp:translate = (2.35702190628, 8.85837524271, 0.787047521649)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.965168807, -0.000506026743, -7.15314758e-05, -0.26162743)
+            double3 xformOp:translate = (3.27289012097, 8.83976211957, 0.748069627228)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.812105508, -0.000374865961, 0.000347354758, 0.583510396)
+            double3 xformOp:translate = (2.98581915787, 8.86696601392, 0.774989023161)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.786733689, -0.000359859401, 0.000362878806, 0.617292347)
+            double3 xformOp:translate = (1.8359108249, 8.23429838167, 0.780526676251)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.140991912, -0.000134216959, -0.000493118266, -0.990010616)
+            double3 xformOp:translate = (2.56714723923, 8.28758794906, 0.746963141476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.394549068, -0.000141870914, 0.000490970936, 0.918874731)
+            double3 xformOp:translate = (3.22049049568, 8.48704083461, 0.752545199715)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.931509253, -0.000495424892, -0.000125435212, -0.363717267)
+            double3 xformOp:translate = (1.84400708807, 8.83577974073, 0.751801613557)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986116058, -0.000510594976, -2.17390614e-05, -0.166056794)
+            double3 xformOp:translate = (2.9669167236, 8.24804726908, 0.746309661826)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.371178067, -0.000129405441, 0.000494402719, 0.928561566)
+            double3 xformOp:translate = (3.70571373615, 8.71783137528, 0.743481686438)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0062/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0062/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d9fda369f5c747f257157a392b86bfff4a1a77
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0062/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7293581225091752162,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 4,
+    "clock": 3,
+    "paper goods": 1,
+    "electronics accessory": 1,
+    "office_supplies": 1,
+    "small object": 1,
+    "small prop": 1,
+    "electronics": 5,
+    "timepiece": 1,
+    "writing_instrument": 2,
+    "office_supply": 3
+  },
+  "failed_sampling_attempt_count": 134,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.7942469725711288,
+        8.294918692472448,
+        0.7409866768444563
+      ],
+      "rotation_wxyz": [
+        0.7986370543729114,
+        -0.00044312675884062604,
+        -0.00025459476003978227,
+        -0.601812756763051
+      ],
+      "yaw_degrees_local": -74.05839650514775,
+      "yaw_radians": -1.2915379789991748,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7942469725711288,
+        8.294918692472448,
+        0.7909867707217718
+      ],
+      "z_min": 0.7409866768444563,
+      "z_max": 0.8409868645990873
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.7103029919776336,
+        8.491896284533109,
+        0.7409242327491761
+      ],
+      "rotation_wxyz": [
+        0.7561869217616302,
+        -0.00034202067929464024,
+        0.00037973895135361797,
+        0.6543554677519352
+      ],
+      "yaw_degrees_local": 81.68289484569942,
+      "yaw_radians": 1.4266601373694674,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7103029919776336,
+        8.491896284533109,
+        0.8909242387096405
+      ],
+      "z_min": 0.7409242327491761,
+      "z_max": 1.040924244670105
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.1258431185304043,
+        8.240186527465836,
+        0.8171497406287865
+      ],
+      "rotation_wxyz": [
+        0.8976664722110141,
+        -0.00048313800577142553,
+        -0.00016660577306780992,
+        -0.4406752131541058
+      ],
+      "yaw_degrees_local": -52.352658420484374,
+      "yaw_radians": -0.9127013103128953,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1258431185304043,
+        8.240186527465836,
+        0.8933356791508726
+      ],
+      "z_min": 0.7410002141415842,
+      "z_max": 0.8933720911857566
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        3.4993790604347472,
+        8.606280754834774,
+        0.7535935417544926
+      ],
+      "rotation_wxyz": [
+        0.22445416074305516,
+        -5.209016258793205e-05,
+        0.0005083959394034098,
+        0.9744845142665505
+      ],
+      "yaw_degrees_local": 153.99972026017429,
+      "yaw_radians": 2.688827015320076,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4993790604347472,
+        8.606280754834774,
+        0.7665693608642548
+      ],
+      "z_min": 0.7405815491933635,
+      "z_max": 0.7665331874128879
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        2.014543777153243,
+        8.850821833371338,
+        0.7865342821326614
+      ],
+      "rotation_wxyz": [
+        0.9955571869031722,
+        -0.0004988980088321439,
+        0.00011081783711855546,
+        0.09415745549677085
+      ],
+      "yaw_degrees_local": 10.746947391286199,
+      "yaw_radians": 0.18859415366408624,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.014543777153243,
+        8.850821833371338,
+        0.8327326966335412
+      ],
+      "z_min": 0.7405216752950446,
+      "z_max": 0.8329185042968044
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        3.4085452879767635,
+        8.2206946476895,
+        0.8078528603980264
+      ],
+      "rotation_wxyz": [
+        0.004647056570176158,
+        6.099325481751276e-05,
+        0.000507404807926648,
+        0.9999890717829959
+      ],
+      "yaw_degrees_local": 179.40877413729982,
+      "yaw_radians": 3.1322984462485035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4085452879767635,
+        8.2206946476895,
+        0.8747041654303078
+      ],
+      "z_min": 0.7409841599037066,
+      "z_max": 0.8746867699682692
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.0182290261089157,
+        8.727631569388102,
+        0.7933240792735812
+      ],
+      "rotation_wxyz": [
+        0.8121632056458561,
+        -0.0003749003074643699,
+        0.00034731768700058097,
+        0.5834300868272315
+      ],
+      "yaw_degrees_local": 71.32562053099926,
+      "yaw_radians": 1.2458915074063326,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0182290261089157,
+        8.727631569388102,
+        0.8458731081327993
+      ],
+      "z_min": 0.7406461553812386,
+      "z_max": 0.8457442130996748
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.6818238230512925,
+        8.601409975616479,
+        0.788143194507676
+      ],
+      "rotation_wxyz": [
+        0.9682419641164446,
+        -0.0005068495024234028,
+        -6.5447674775057e-05,
+        -0.25001447506917246
+      ],
+      "yaw_degrees_local": -29.01545177790473,
+      "yaw_radians": -0.5053902970040578,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6818238230512925,
+        8.601409975616479,
+        0.8355421199357764
+      ],
+      "z_min": 0.7405633913953763,
+      "z_max": 0.8353612422515773
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.6482069863070175,
+        8.900513883880864,
+        0.7543634064944866
+      ],
+      "rotation_wxyz": [
+        0.01060021567176312,
+        -6.872251461725405e-05,
+        -0.0005064158688518695,
+        -0.9999436855382887
+      ],
+      "yaw_degrees_local": -178.84399227151837,
+      "yaw_radians": -3.120391897353183,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6482069863070175,
+        8.900513883880864,
+        0.7684553317860808
+      ],
+      "z_min": 0.7402642723891567,
+      "z_max": 0.7684481229723452
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.09241187949325,
+        8.38453346697127,
+        0.7466745136506802
+      ],
+      "rotation_wxyz": [
+        0.13386487721803028,
+        -0.00013066536989713993,
+        -0.0004940712270006788,
+        -0.9909994618906641
+      ],
+      "yaw_degrees_local": -164.67273565965942,
+      "yaw_radians": -2.8730569201309,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.09241187949325,
+        8.38453346697127,
+        0.7525055646754664
+      ],
+      "z_min": 0.7409847129213555,
+      "z_max": 0.7526468149709279
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.9850499337473295,
+        8.297786048600862,
+        0.8017608173470671
+      ],
+      "rotation_wxyz": [
+        0.9055940143910436,
+        -0.00048611100875520544,
+        -0.00015772096692358046,
+        -0.4241452816185726
+      ],
+      "yaw_degrees_local": -50.251866452997405,
+      "yaw_radians": -0.8760355741669908,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9850499337473295,
+        8.297786048600862,
+        0.8623876838023267
+      ],
+      "z_min": 0.7410863265449847,
+      "z_max": 0.862340059455504
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.420323476215799,
+        8.252385436038026,
+        0.8274644941352793
+      ],
+      "rotation_wxyz": [
+        0.9839779222278014,
+        -0.00048769616080817816,
+        0.00015274904573605756,
+        0.17828961660299458
+      ],
+      "yaw_degrees_local": 20.48159356448943,
+      "yaw_radians": 0.3584957190925433,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.420323476215799,
+        8.252385436038026,
+        0.913863773093546
+      ],
+      "z_min": 0.7410772370929184,
+      "z_max": 0.9138757950094517
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.6233029491807787,
+        8.301227403586882,
+        0.7439146611300356
+      ],
+      "rotation_wxyz": [
+        0.3137441813062458,
+        -0.00021925649134851204,
+        -0.000461634495290216,
+        -0.9495074130919977
+      ],
+      "yaw_degrees_local": -143.4886698597289,
+      "yaw_radians": -2.503325299145201,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6233029491807787,
+        8.301227403586882,
+        0.7470266643739112
+      ],
+      "z_min": 0.740875237613195,
+      "z_max": 0.7470992441009461
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.4540929351121084,
+        8.419456193760915,
+        0.7407767606856673
+      ],
+      "rotation_wxyz": [
+        0.3490454937343291,
+        -0.00011764038750903122,
+        0.0004973334449512094,
+        0.9371056408558976
+      ],
+      "yaw_degrees_local": 139.0833952794261,
+      "yaw_radians": 2.4284881138541903,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4540929351121084,
+        8.419456193760915,
+        0.7632737723994504
+      ],
+      "z_min": 0.7407767636806019,
+      "z_max": 0.785770787108168
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.3303257108418967,
+        8.537050804388386,
+        0.8218629077927294
+      ],
+      "rotation_wxyz": [
+        0.9258028586931943,
+        -0.0004934363101762226,
+        -0.00013304294058681695,
+        -0.3780063566339768
+      ],
+      "yaw_degrees_local": -44.47920923749939,
+      "yaw_radians": -0.7752837079545954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3303257108418967,
+        8.537050804388386,
+        0.9031067610860943
+      ],
+      "z_min": 0.7406732192988428,
+      "z_max": 0.9031609258855727
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        4.85913168040906,
+        8.090884672974022,
+        0.9507920296297073
+      ],
+      "rotation_wxyz": [
+        0.5868044662490393,
+        0.0,
+        0.0,
+        0.8097286696111112
+      ],
+      "yaw_degrees_local": 18.13886034172714,
+      "yaw_radians": 1.887379162317459,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.85913168040906,
+        8.090884672974022,
+        0.9813944311351
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9814048319071174
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.481285977759735,
+        8.805126906842721,
+        0.7869724168461233
+      ],
+      "rotation_wxyz": [
+        0.4443489839354788,
+        -0.00028208927414428606,
+        -0.00042615191851388213,
+        -0.8958536260437258
+      ],
+      "yaw_degrees_local": -127.29531406006791,
+      "yaw_radians": -2.2206978893020413,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.481285977759735,
+        8.805126906842721,
+        0.8335540201120413
+      ],
+      "z_min": 0.7403821829814232,
+      "z_max": 0.8335453895132592
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        2.2765453647698415,
+        8.280552618607617,
+        0.8197764519299311
+      ],
+      "rotation_wxyz": [
+        0.6499872125077064,
+        -0.00037776181402443716,
+        -0.00034420317852291716,
+        -0.7599449732688847
+      ],
+      "yaw_degrees_local": -98.97742210325084,
+      "yaw_radians": -1.7264572270982415,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2765453647698415,
+        8.280552618607617,
+        0.898487114754553
+      ],
+      "z_min": 0.741066881867306,
+      "z_max": 0.8984882075165499
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.912412723835984,
+        7.688951896439192,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        0.04971184250206262,
+        0.0,
+        0.0,
+        0.9987636020175397
+      ],
+      "yaw_degrees_local": 84.30109356650064,
+      "yaw_radians": 3.042127972562142,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.912412723835984,
+        7.688951896439192,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        1.979222909746015,
+        8.598081982018574,
+        0.7487952371542379
+      ],
+      "rotation_wxyz": [
+        0.8567664963034071,
+        -0.0004671501078747528,
+        -0.00020724524832410385,
+        -0.5157042850628333
+      ],
+      "yaw_degrees_local": -62.147803438618894,
+      "yaw_radians": -1.0836588572375843,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.979222909746015,
+        8.598081982018574,
+        0.7566245763390559
+      ],
+      "z_min": 0.7407824675286752,
+      "z_max": 0.7564411458983111
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.834867342560482,
+        8.766075226542657,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        0.870264807607557,
+        0.0,
+        0.0,
+        -0.492584170106777
+      ],
+      "yaw_degrees_local": -149.02114711458898,
+      "yaw_radians": -1.0301133454535292,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.834867342560482,
+        8.766075226542657,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.357021906276584,
+        8.8583752427121,
+        0.787047521648687
+      ],
+      "rotation_wxyz": [
+        0.23668714954719058,
+        -0.00018157831768548404,
+        -0.0004777123933778796,
+        -0.9715857821414482
+      ],
+      "yaw_degrees_local": -152.6765160624697,
+      "yaw_radians": -2.6636834494845267,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.357021906276584,
+        8.8583752427121,
+        0.8334146897845719
+      ],
+      "z_min": 0.7404706223163281,
+      "z_max": 0.833204958588098
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.272890120974029,
+        8.839762119567746,
+        0.7480696272282826
+      ],
+      "rotation_wxyz": [
+        0.9651688073031046,
+        -0.0005060267425879386,
+        -7.153147577222701e-05,
+        -0.26162743019279644
+      ],
+      "yaw_degrees_local": -30.392014533391915,
+      "yaw_radians": -0.5294158405818532,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.272890120974029,
+        8.839762119567746,
+        0.7559245335720832
+      ],
+      "z_min": 0.7403734385060623,
+      "z_max": 0.7560832511936635
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.9858191578674678,
+        8.866966013916834,
+        0.7749890231611304
+      ],
+      "rotation_wxyz": [
+        0.8121055083856704,
+        -0.00037486596064258387,
+        0.0003473547578367473,
+        0.5835103958541233
+      ],
+      "yaw_degrees_local": 71.33695207547638,
+      "yaw_radians": 1.2460892802619052,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9858191578674678,
+        8.866966013916834,
+        0.8095887501439657
+      ],
+      "z_min": 0.7403822337107471,
+      "z_max": 0.8095816876764176
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        1.8359108248983285,
+        8.234298381667255,
+        0.7805266762508909
+      ],
+      "rotation_wxyz": [
+        0.7867336888195535,
+        -0.00035985940112907546,
+        0.00036287880574557645,
+        0.6172923470257525
+      ],
+      "yaw_degrees_local": 76.1786529066274,
+      "yaw_radians": 1.3305929430629955,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8359108248983285,
+        8.234298381667255,
+        0.8197667510907821
+      ],
+      "z_min": 0.7411696027364802,
+      "z_max": 0.8196497524162628
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.567147239229002,
+        8.287587949064761,
+        0.7469631414762248
+      ],
+      "rotation_wxyz": [
+        0.14099191227504496,
+        -0.000134216959160878,
+        -0.0004931182658489947,
+        -0.9900106158487444
+      ],
+      "yaw_degrees_local": -163.84821230762046,
+      "yaw_radians": -2.8586662781151553,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.567147239229002,
+        8.287587949064761,
+        0.7527803542427971
+      ],
+      "z_min": 0.7410228888139151,
+      "z_max": 0.7526573143470597
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.220490495684535,
+        8.487040834610823,
+        0.7525451997150647
+      ],
+      "rotation_wxyz": [
+        0.39454906821927105,
+        -0.00014187091423618353,
+        0.0004909709359362345,
+        0.9188747311725843
+      ],
+      "yaw_degrees_local": 133.46557601194547,
+      "yaw_radians": 2.3304386857263872,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.220490495684535,
+        8.487040834610823,
+        0.7642325246677314
+      ],
+      "z_min": 0.7407378210216656,
+      "z_max": 0.764112470926999
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        1.8440070880735173,
+        8.835779740731834,
+        0.7518016135567425
+      ],
+      "rotation_wxyz": [
+        0.9315092529946969,
+        -0.0004954248921903266,
+        -0.0001254352121157212,
+        -0.36371726712577973
+      ],
+      "yaw_degrees_local": -42.716041131027964,
+      "yaw_radians": -0.7445106239733921,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8440070880735173,
+        8.835779740731834,
+        0.7630346127806547
+      ],
+      "z_min": 0.7405585204967933,
+      "z_max": 0.7630245189446176
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        2.9669167236046885,
+        8.248047269077007,
+        0.7463096618257469
+      ],
+      "rotation_wxyz": [
+        0.9861160581016502,
+        -0.0005105949759349582,
+        -2.173906139399643e-05,
+        -0.16605679382141228
+      ],
+      "yaw_degrees_local": -19.175975468723635,
+      "yaw_radians": -0.33365911288657263,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9669167236046885,
+        8.248047269077007,
+        0.7516593177253967
+      ],
+      "z_min": 0.7410123406664536,
+      "z_max": 0.7517116524657533
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.705713736145687,
+        8.717831375280163,
+        0.7434816864376785
+      ],
+      "rotation_wxyz": [
+        0.3711780672893637,
+        -0.0001294054405214669,
+        0.0004944027186451928,
+        0.928561565639843
+      ],
+      "yaw_degrees_local": 136.36470339878235,
+      "yaw_radians": 2.3810379975853464,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.705713736145687,
+        8.717831375280163,
+        0.7465936896815542
+      ],
+      "z_min": 0.7404422629208379,
+      "z_max": 0.746666269408589
+    }
+  ],
+  "variant_index": 62
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0066/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0066/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..b80aff5f47d390a9f6e6632e749128d1589dfb56
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0066/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1136858719908292023
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.86779737, -0.000471553916, -0.000197019593, -0.496917964)
+            double3 xformOp:translate = (1.90995605236, 8.668776703, 0.740719538671)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.762880733, -0.000427827592, -0.000279541353, -0.646539037)
+            double3 xformOp:translate = (3.56600090461, 8.28948842592, 0.740894399313)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.186181001, -3.21724761e-05, 0.000510043869, 0.98251533)
+            double3 xformOp:translate = (2.22337523466, 8.24344274262, 0.749278371132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.881645891, -0.000417200863, 0.000295166489, 0.471911285)
+            double3 xformOp:translate = (1.73142085319, 8.61770754328, 0.781357504901)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.358621926, -0.000240999541, -0.000450665106, -0.933482755)
+            double3 xformOp:translate = (1.99222000227, 8.85339124191, 0.745819197657)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.62603905, -0.000366874609, -0.000355784819, -0.779791541)
+            double3 xformOp:translate = (2.88751619949, 8.29333177833, 0.857816109661)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00601693894, -6.64006744e-05, -0.000506725534, -0.999981767)
+            double3 xformOp:translate = (2.74456718187, 8.26670244827, 0.787233614748)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.323708601, -0.000224097337, -0.000459304038, -0.946156689)
+            double3 xformOp:translate = (1.85168348538, 8.44014149326, 0.753469209728)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.289741556, -8.6299458e-05, 0.000503718393, 0.957104785)
+            double3 xformOp:translate = (3.453711446, 8.20954186463, 0.777645283754)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.584027004, -0.000244745618, 0.000448641726, 0.811734068)
+            double3 xformOp:translate = (3.69237525903, 8.7694664114, 0.840648639267)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.519335195, -0.000317500668, -0.000400466156, -0.854570473)
+            double3 xformOp:translate = (3.36941077912, 8.49159077297, 0.746654587559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964823916, -0.000472622969, 0.000194441111, 0.262896462)
+            double3 xformOp:translate = (2.60946070603, 8.23444158137, 0.818438985085)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.937700971, -0.000497533827, -0.000116790015, -0.347442985)
+            double3 xformOp:translate = (3.67719622438, 8.39854398698, 0.754215452971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.126026489, -1.06460995e-06, 0.000511056438, 0.992026745)
+            double3 xformOp:translate = (3.02262834887, 8.28210635497, 0.745291008162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998728341, -0.000509664749, 3.77049016e-05, -0.0504126944)
+            double3 xformOp:translate = (2.49065688462, 8.2459026844, 0.80007331732)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.962179704, -0.00047067904, 0.000199100622, 0.272415042)
+            double3 xformOp:translate = (2.07797037664, 8.25486884709, 0.747776476478)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.946095963, 0, 0, 0.323886445)
+            double3 xformOp:translate = (4.87334189864, 8.74578374735, 1.0150735252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987724909, -0.000490995544, 0.000141785726, 0.15620257)
+            double3 xformOp:translate = (3.64529750981, 8.89125364037, 0.75029572338)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.821262679, 0, 0, -0.570550271)
+            double3 xformOp:translate = (4.9482319211, 8.46399381604, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.378729892, -0.000133428593, 0.000493332167, 0.925507108)
+            double3 xformOp:translate = (1.73332363332, 8.76035829516, 0.840906091047)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0272386967, -7.71402074e-05, -0.000505202142, -0.999628827)
+            double3 xformOp:translate = (3.55367810062, 8.65710932576, 0.80582745827)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984863657, -0.00051042063, -2.55068015e-05, -0.173330081)
+            double3 xformOp:translate = (3.25262492729, 8.48865135122, 0.85757175058)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.733097807, -0.00041485176, -0.000298459099, -0.680123036)
+            double3 xformOp:translate = (3.4958068566, 8.78175745719, 0.746093824582)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99509994, -0.000510894709, 1.29001024e-05, -0.0988728894)
+            double3 xformOp:translate = (1.71739010468, 8.2308747009, 0.766214787996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.763385227, -0.000428045688, -0.00027920728, -0.64594329)
+            double3 xformOp:translate = (3.42264526757, 8.37081949621, 0.767429323506)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970090252, -0.000476570282, 0.000184555093, 0.242743985)
+            double3 xformOp:translate = (2.88587630215, 8.83912811261, 0.810594821396)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.779283161, -0.000434886922, -0.000268427237, -0.626671759)
+            double3 xformOp:translate = (3.51288848648, 8.47500493804, 0.81088468369)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.48999456, -0.000193259785, 0.000473107252, 0.871725341)
+            double3 xformOp:translate = (2.41245179832, 8.86406025352, 0.779803793547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.788351634, -0.000360810873, 0.00036193277, 0.615224707)
+            double3 xformOp:translate = (3.30789924332, 8.57720493798, 0.787212216395)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0302159633, -7.86446062e-05, -0.00050497014, -0.999543263)
+            double3 xformOp:translate = (3.14809635407, 8.86023898767, 0.745655691613)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0066/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0066/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..74938f7874354a1dfcd347166fd63e261ec5b12f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0066/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1136858719908292023,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 5,
+    "stationery": 1,
+    "book": 1,
+    "clock": 3,
+    "decorative_object": 1,
+    "small electronic device": 1,
+    "drinkware/container": 2,
+    "office_supply": 3,
+    "paper_goods": 1,
+    "small object": 3,
+    "office_supplies": 2
+  },
+  "failed_sampling_attempt_count": 167,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.90995605235651,
+        8.668776702996874,
+        0.7407195386707778
+      ],
+      "rotation_wxyz": [
+        0.867797370212287,
+        -0.00047155391640055954,
+        -0.00019701959335966229,
+        -0.4969179641277047
+      ],
+      "yaw_degrees_local": -59.651324532200974,
+      "yaw_radians": -1.0400870737946661,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.90995605235651,
+        8.668776702996874,
+        0.9182195333063597
+      ],
+      "z_min": 0.7407195386707778,
+      "z_max": 1.0957195279419416
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.5660009046128485,
+        8.289488425920531,
+        0.7408943993127135
+      ],
+      "rotation_wxyz": [
+        0.7628807327681927,
+        -0.0004278275917887283,
+        -0.0002795413528345492,
+        -0.6465390370203871
+      ],
+      "yaw_degrees_local": -80.62105408124387,
+      "yaw_radians": -1.40607800733017,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5660009046128485,
+        8.289488425920531,
+        0.7633914110264965
+      ],
+      "z_min": 0.740894402307648,
+      "z_max": 0.7858884257352141
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        2.2233752346631954,
+        8.243442742617697,
+        0.7492783711323224
+      ],
+      "rotation_wxyz": [
+        0.18618100106321253,
+        -3.217247607650811e-05,
+        0.0005100438687244649,
+        0.9825153299889443
+      ],
+      "yaw_degrees_local": 158.4812965076572,
+      "yaw_radians": 2.7670452423485847,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2233752346631954,
+        8.243442742617697,
+        0.7575143778844631
+      ],
+      "z_min": 0.7411112197641594,
+      "z_max": 0.7575832332684408
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        1.7314208531861857,
+        8.617707543280963,
+        0.7813575049009276
+      ],
+      "rotation_wxyz": [
+        0.881645891416895,
+        -0.0004172008628217135,
+        0.0002951664891228854,
+        0.47191128506096625
+      ],
+      "yaw_degrees_local": 56.25816533382681,
+      "yaw_radians": 0.9829146973983344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7314208531861857,
+        8.617707543280963,
+        0.8219075140404591
+      ],
+      "z_min": 0.7407939764543626,
+      "z_max": 0.8218939947334256
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        1.99222000226874,
+        8.853391241908211,
+        0.7458191976567801
+      ],
+      "rotation_wxyz": [
+        0.35862192593818604,
+        -0.00024099954090126777,
+        -0.0004506651057333935,
+        -0.9334827545576673
+      ],
+      "yaw_degrees_local": -138.02752891921506,
+      "yaw_radians": -2.408010406352396,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.99222000226874,
+        8.853391241908211,
+        0.7511688535564299
+      ],
+      "z_min": 0.7405218764974868,
+      "z_max": 0.7512211882967865
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.8875161994865732,
+        8.293331778334764,
+        0.8578161096608633
+      ],
+      "rotation_wxyz": [
+        0.6260390498458475,
+        -0.0003668746094501796,
+        -0.00035578481864898453,
+        -0.7797915406621776
+      ],
+      "yaw_degrees_local": -102.54171510520476,
+      "yaw_radians": -1.7886659077092173,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8875161994865732,
+        8.293331778334764,
+        0.9746749283368357
+      ],
+      "z_min": 0.7409765300605987,
+      "z_max": 0.9746941674125436
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.744567181868186,
+        8.266702448268529,
+        0.7872336147479243
+      ],
+      "rotation_wxyz": [
+        0.006016938936658492,
+        -6.640067436389486e-05,
+        -0.0005067255338783833,
+        -0.9999817674667956
+      ],
+      "yaw_degrees_local": -179.36921575550323,
+      "yaw_radians": -3.1295587718580347,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.744567181868186,
+        8.266702448268529,
+        0.8334262146540068
+      ],
+      "z_min": 0.7410216132916935,
+      "z_max": 0.8334068131038583
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        1.8516834853839876,
+        8.440141493261756,
+        0.7534692097276761
+      ],
+      "rotation_wxyz": [
+        0.32370860073153884,
+        -0.00022409733725736297,
+        -0.0004593040383824993,
+        -0.9461566892606178
+      ],
+      "yaw_degrees_local": -142.28399669094057,
+      "yaw_radians": -2.4822997862103895,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8516834853839876,
+        8.440141493261756,
+        0.766040032492941
+      ],
+      "z_min": 0.7409588175918246,
+      "z_max": 0.7661004631223542
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.453711445997624,
+        8.209541864625933,
+        0.7776452837544774
+      ],
+      "rotation_wxyz": [
+        0.2897415564405413,
+        -8.629945799110345e-05,
+        0.0005037183933417107,
+        0.9571047849068548
+      ],
+      "yaw_degrees_local": 146.25631701249625,
+      "yaw_radians": 2.553679182769747,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.453711445997624,
+        8.209541864625933,
+        0.814255496823656
+      ],
+      "z_min": 0.7409897330301927,
+      "z_max": 0.81421015916855
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.6923752590277505,
+        8.769466411400577,
+        0.8406486392665655
+      ],
+      "rotation_wxyz": [
+        0.5840270039357591,
+        -0.0002447456180403462,
+        0.0004486417264258437,
+        0.8117340682107687
+      ],
+      "yaw_degrees_local": 108.4727148053293,
+      "yaw_radians": 1.894230915895955,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6923752590277505,
+        8.769466411400577,
+        0.9408655193292155
+      ],
+      "z_min": 0.740391633788287,
+      "z_max": 0.940825393913587
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.3694107791247467,
+        8.491590772972023,
+        0.7466545875585684
+      ],
+      "rotation_wxyz": [
+        0.5193351952804575,
+        -0.00031750066824217445,
+        -0.0004004661557561204,
+        -0.8545704732572927
+      ],
+      "yaw_degrees_local": -117.48336478501858,
+      "yaw_radians": -2.049447011695408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3694107791247467,
+        8.491590772972023,
+        0.7524718003251407
+      ],
+      "z_min": 0.7407143348962587,
+      "z_max": 0.7523487604294034
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.609460706026865,
+        8.234441581370769,
+        0.8184389850846115
+      ],
+      "rotation_wxyz": [
+        0.9648239160078339,
+        -0.0004726229689520906,
+        0.00019444111051735894,
+        0.26289646235636643
+      ],
+      "yaw_degrees_local": 30.42528892947695,
+      "yaw_radians": 0.5320459052856312,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.609460706026865,
+        8.234441581370769,
+        0.895820740217951
+      ],
+      "z_min": 0.7410714677172282,
+      "z_max": 0.8958349779839071
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        3.6771962243752343,
+        8.398543986981997,
+        0.7542154529712854
+      ],
+      "rotation_wxyz": [
+        0.9377009709098582,
+        -0.0004975338265348591,
+        -0.00011679001538613369,
+        -0.347442985214687
+      ],
+      "yaw_degrees_local": -40.72070835052244,
+      "yaw_radians": -0.7096855037753323,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6771962243752343,
+        8.398543986981997,
+        0.7677602023438826
+      ],
+      "z_min": 0.7407697131004156,
+      "z_max": 0.76785921184561
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.022628348867469,
+        8.282106354966917,
+        0.7452910081623664
+      ],
+      "rotation_wxyz": [
+        0.12602648918374568,
+        -1.0646099491094243e-06,
+        0.0005110564380241861,
+        0.9920267450246506
+      ],
+      "yaw_degrees_local": 165.4612114997242,
+      "yaw_radians": 2.888867681489574,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.022628348867469,
+        8.282106354966917,
+        0.7494276095224934
+      ],
+      "z_min": 0.740970737609899,
+      "z_max": 0.7492439403301531
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.490656884623765,
+        8.245902684397697,
+        0.8000733173204634
+      ],
+      "rotation_wxyz": [
+        0.9987283409734654,
+        -0.0005096647492541234,
+        3.7704901644800316e-05,
+        -0.05041269439906403
+      ],
+      "yaw_degrees_local": -5.838030150716321,
+      "yaw_radians": -0.10086817006392004,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.490656884623765,
+        8.245902684397697,
+        0.8591995953529835
+      ],
+      "z_min": 0.7410748864797573,
+      "z_max": 0.8593274425447975
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.0779703766383566,
+        8.254868847092746,
+        0.7477764764778217
+      ],
+      "rotation_wxyz": [
+        0.9621797044785925,
+        -0.0004706790398984118,
+        0.000199100621899134,
+        0.27241504200332367
+      ],
+      "yaw_degrees_local": 31.55734701051594,
+      "yaw_radians": 0.5518040436866039,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0779703766383566,
+        8.254868847092746,
+        0.7543892807613095
+      ],
+      "z_min": 0.7411180532116655,
+      "z_max": 0.754343661778641
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        4.873341898641255,
+        8.745783747354347,
+        1.0150735251987464
+      ],
+      "rotation_wxyz": [
+        0.9460959628139585,
+        0.0,
+        0.0,
+        0.3238864448338783
+      ],
+      "yaw_degrees_local": -52.2037515285234,
+      "yaw_radians": 0.6596689807291407,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.873341898641255,
+        8.745783747354347,
+        1.10997037126295
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.1099937210247388
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.6452975098057854,
+        8.891253640374778,
+        0.7502957233796336
+      ],
+      "rotation_wxyz": [
+        0.9877249090641737,
+        -0.0004909955440390789,
+        0.00014178572556531037,
+        0.15620256987115752
+      ],
+      "yaw_degrees_local": 17.914387979657505,
+      "yaw_radians": 0.31368954322222753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6452975098057854,
+        8.891253640374778,
+        0.7603330743604523
+      ],
+      "z_min": 0.7402740309301314,
+      "z_max": 0.7603487328917689
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.948231921103064,
+        8.46399381604168,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.8212626793978823,
+        0.0,
+        0.0,
+        -0.5705502707283656
+      ],
+      "yaw_degrees_local": -159.57721344706667,
+      "yaw_radians": -1.2143514590141868,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.948231921103064,
+        8.46399381604168,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.7333236333249622,
+        8.760358295157763,
+        0.8409060910470644
+      ],
+      "rotation_wxyz": [
+        0.3787298920033569,
+        -0.00013342859285856112,
+        0.0004933321668491697,
+        0.9255071084131713
+      ],
+      "yaw_degrees_local": 135.43122062758033,
+      "yaw_radians": 2.364745652085012,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7333236333249622,
+        8.760358295157763,
+        0.9411229711097144
+      ],
+      "z_min": 0.7406490855687858,
+      "z_max": 0.9410828456940858
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.553678100619647,
+        8.657109325757801,
+        0.8058274582698887
+      ],
+      "rotation_wxyz": [
+        0.02723869669635077,
+        -7.714020738719337e-05,
+        -0.0005052021423594455,
+        -0.9996288272266203
+      ],
+      "yaw_degrees_local": -176.93699918625563,
+      "yaw_radians": -3.0871086056794548,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.553678100619647,
+        8.657109325757801,
+        0.8711831826315302
+      ],
+      "z_min": 0.7405231447873861,
+      "z_max": 0.8712345935106691
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.252624927294424,
+        8.488651351216442,
+        0.8575717505802882
+      ],
+      "rotation_wxyz": [
+        0.9848636565545217,
+        -0.0005104206297943025,
+        -2.5506801459615643e-05,
+        -0.17333008053491822
+      ],
+      "yaw_degrees_local": -20.021700540756882,
+      "yaw_radians": -0.34841979296335357,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.252624927294424,
+        8.488651351216442,
+        0.9744305692562607
+      ],
+      "z_min": 0.7407321709800236,
+      "z_max": 0.9744498083319685
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.4958068565954195,
+        8.781757457193516,
+        0.7460938245821854
+      ],
+      "rotation_wxyz": [
+        0.7330978073605344,
+        -0.0004148517596644839,
+        -0.00029845909894589217,
+        -0.6801230356805751
+      ],
+      "yaw_degrees_local": -85.76524076992926,
+      "yaw_radians": -1.495861043749323,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4958068565954195,
+        8.781757457193516,
+        0.7519248756069716
+      ],
+      "z_min": 0.7404040238528607,
+      "z_max": 0.7520661259024332
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        1.7173901046841136,
+        8.230874700904367,
+        0.7662147879961382
+      ],
+      "rotation_wxyz": [
+        0.9950999399910375,
+        -0.0005108947089169332,
+        1.2900102363728403e-05,
+        -0.09887288935809178
+      ],
+      "yaw_degrees_local": -11.40725218476615,
+      "yaw_radians": -0.19806938070292313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7173901046841136,
+        8.230874700904367,
+        0.7911590295662635
+      ],
+      "z_min": 0.7411880843661082,
+      "z_max": 0.7910765675063588
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.422645267568718,
+        8.370819496205002,
+        0.7674293235060164
+      ],
+      "rotation_wxyz": [
+        0.763385226770498,
+        -0.0004280456878726785,
+        -0.0002792072802308674,
+        -0.6459432903659107
+      ],
+      "yaw_degrees_local": -80.53159715006171,
+      "yaw_radians": -1.4045166886599199,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.422645267568718,
+        8.370819496205002,
+        0.7940038081620905
+      ],
+      "z_min": 0.7408300909333507,
+      "z_max": 0.7939790602454987
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.8858763021543057,
+        8.839128112612178,
+        0.8105948213956862
+      ],
+      "rotation_wxyz": [
+        0.9700902516997275,
+        -0.0004765702821928957,
+        0.00018455509305054786,
+        0.24274398525471946
+      ],
+      "yaw_degrees_local": 28.038392071741868,
+      "yaw_radians": 0.49038670263757184,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8858763021543057,
+        8.839128112612178,
+        0.880771187627605
+      ],
+      "z_min": 0.740423149255466,
+      "z_max": 0.8807758817193038
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.512888486481762,
+        8.475004938042645,
+        0.8108846836895941
+      ],
+      "rotation_wxyz": [
+        0.7792831609466695,
+        -0.00043488692199347294,
+        -0.00026842723654531704,
+        -0.6266717592848359
+      ],
+      "yaw_degrees_local": -77.66871366548865,
+      "yaw_radians": -1.3545499246885897,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.512888486481762,
+        8.475004938042645,
+        0.881061049921513
+      ],
+      "z_min": 0.740713011549374,
+      "z_max": 0.8810657440132117
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.412451798321537,
+        8.86406025351624,
+        0.7798037935468007
+      ],
+      "rotation_wxyz": [
+        0.48999455979046963,
+        -0.00019325978546188462,
+        0.0004731072516497067,
+        0.8717253410311805
+      ],
+      "yaw_degrees_local": 121.26083315621815,
+      "yaw_radians": 2.117425736771634,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.412451798321537,
+        8.86406025351624,
+        0.8191526528726766
+      ],
+      "z_min": 0.7404578295888644,
+      "z_max": 0.8191555482406161
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.3078992433157155,
+        8.577204937980566,
+        0.7872122163950871
+      ],
+      "rotation_wxyz": [
+        0.7883516340426611,
+        -0.0003608108730970723,
+        0.0003619327701317483,
+        0.6152247068530735
+      ],
+      "yaw_degrees_local": 75.87780066534671,
+      "yaw_radians": 1.3253420782245506,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3078992433157155,
+        8.577204937980566,
+        0.833579384530972
+      ],
+      "z_min": 0.7406353170627282,
+      "z_max": 0.8333696533344981
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.1480963540688025,
+        8.860238987665735,
+        0.7456556916125477
+      ],
+      "rotation_wxyz": [
+        0.03021596329572172,
+        -7.864460623826521e-05,
+        -0.0005049701398597157,
+        -0.9995432628867524
+      ],
+      "yaw_degrees_local": -176.59568852998618,
+      "yaw_radians": -3.081151613863781,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1480963540688025,
+        8.860238987665735,
+        0.7509566822436612
+      ],
+      "z_min": 0.74036848045928,
+      "z_max": 0.750970461721507
+    }
+  ],
+  "variant_index": 66
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0067/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0067/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..7fb59626997fad83a3b8201507f0a306f71696c3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0067/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4997273342053069408
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986830844, -0.000510684923, -1.9512182e-05, -0.161754825)
+            double3 xformOp:translate = (1.83834673266, 8.5358577617, 0.740559725931)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93025125, -0.000448500493, 0.000245004335, 0.366922812)
+            double3 xformOp:translate = (3.43529907899, 8.78379995969, 0.740409612717)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.228723229, -5.43179923e-05, 0.000508162742, 0.973491358)
+            double3 xformOp:translate = (3.39994418778, 8.48121495375, 0.740720986666)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.643157536, -0.000374665096, -0.000347571406, -0.765733715)
+            double3 xformOp:translate = (3.67527242925, 8.73254878877, 0.787021449608)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.532762895, -0.000323783875, -0.000395403362, -0.846264401)
+            double3 xformOp:translate = (3.00370461303, 8.87379240999, 0.796532975481)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.873364884, -0.000412041357, 0.0003023272, 0.487066236)
+            double3 xformOp:translate = (3.59169182562, 8.32909976274, 0.740850969152)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.7352752, -0.000329932784, 0.000390287297, 0.677768485)
+            double3 xformOp:translate = (2.97769130774, 8.25260919049, 0.767605592367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991599407, -0.00049466175, 0.000128411717, 0.129345871)
+            double3 xformOp:translate = (3.35747089014, 8.30869298892, 0.825311508203)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0186505223, 5.3881539e-05, 0.000508209205, 0.999825933)
+            double3 xformOp:translate = (1.8764445888, 8.87325532665, 0.753584896383)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.455506908, -0.000174598134, 0.000480307514, 0.890232102)
+            double3 xformOp:translate = (2.46080933568, 8.26121797987, 0.752870488975)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.917069555, -0.000439801036, 0.000260297647, 0.398726937)
+            double3 xformOp:translate = (2.63550773157, 8.32709623562, 0.799972615444)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.540184086, -0.000327248412, -0.000392540817, -0.841546726)
+            double3 xformOp:translate = (3.19215810285, 8.56836065712, 0.827046229587)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0393839486, 4.33291562e-05, 0.000509217439, 0.999224021)
+            double3 xformOp:translate = (2.03445771512, 8.35231190637, 0.811196441745)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.634843016, -0.000272991797, 0.00043203622, 0.77264098)
+            double3 xformOp:translate = (1.73658494216, 8.29353724209, 0.752922651964)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.67984667, -0.000298302713, 0.000414964225, 0.733354106)
+            double3 xformOp:translate = (2.41040506016, 8.89439985049, 0.79658724647)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953194894, -0.000502534766, -9.29442057e-05, -0.302356135)
+            double3 xformOp:translate = (3.11346822131, 8.29728591845, 0.780289814749)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.693305086, -0.000397239262, -0.000321528825, -0.720644015)
+            double3 xformOp:translate = (1.98296005573, 8.74807217946, 0.751649917675)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886928754, -0.000420513729, 0.000290427306, 0.461905969)
+            double3 xformOp:translate = (1.72016836588, 8.85346207906, 0.746206710354)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980699429, -0.000484941982, 0.000161279541, 0.195520764)
+            double3 xformOp:translate = (2.87860325441, 8.29105725995, 0.841236963047)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.297187829, -9.02203934e-05, 0.00050303091, 0.954818901)
+            double3 xformOp:translate = (3.74129544648, 8.31811990923, 0.767442399788)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.150733777, -0.00013906622, -0.000491772714, -0.98857426)
+            double3 xformOp:translate = (1.98352515758, 8.22101857737, 0.75637003314)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.519873102, -0.000209519165, 0.000466134676, 0.854243348)
+            double3 xformOp:translate = (3.74237533119, 8.42629615006, 0.746020514589)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.544513895, -0.00022299631, 0.000459839604, 0.838751666)
+            double3 xformOp:translate = (2.79940506483, 8.26630877747, 0.857854681037)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.913404569, -0.000437415027, 0.000264287553, 0.407052616)
+            double3 xformOp:translate = (3.63320132148, 8.57159754819, 0.779470934063)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96859672, -0.000506942112, -6.47264323e-05, -0.248636549)
+            double3 xformOp:translate = (2.17035996164, 8.87309451804, 0.745732469914)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.12359026, -0.000125539441, -0.000495398491, -0.992333203)
+            double3 xformOp:translate = (2.61277382695, 8.86342099199, 0.777088646242)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99547607, 0, 0, 0.0950125964)
+            double3 xformOp:translate = (4.88142539493, 8.15848079537, 0.925889829626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.290749193, 0, 0, 0.956799303)
+            double3 xformOp:translate = (4.96443974135, 8.40799728279, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.651649834, 0, 0, 0.758519936)
+            double3 xformOp:translate = (4.97003657947, 8.25738301527, 0.972877952789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.509574842, -0.000203905067, 0.000468617691, 0.860426184)
+            double3 xformOp:translate = (2.26540954415, 8.30404381343, 0.788467500493)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0067/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0067/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ca117e98a0534d14d3c0430ff3ebb66615e497
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0067/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4997273342053069408,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 6,
+    "electronics": 7,
+    "small object": 4,
+    "small prop": 1,
+    "writing_instrument": 2,
+    "drinkware/container": 1,
+    "office_supplies": 2,
+    "clock": 2,
+    "small electronic device": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 257,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        1.8383467326578393,
+        8.535857761699146,
+        0.7405597259306029
+      ],
+      "rotation_wxyz": [
+        0.9868308444493173,
+        -0.0005106849234046928,
+        -1.951218202702221e-05,
+        -0.16175482454514703
+      ],
+      "yaw_degrees_local": -18.676247286133105,
+      "yaw_radians": -0.32493721491361366,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8383467326578393,
+        8.535857761699146,
+        0.7493717933351087
+      ],
+      "z_min": 0.740863422160424,
+      "z_max": 0.7584875569694356
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.4352990789941176,
+        8.783799959685627,
+        0.740409612717267
+      ],
+      "rotation_wxyz": [
+        0.9302512502119258,
+        -0.0004485004926433388,
+        0.0002450043353473465,
+        0.3669228124542449
+      ],
+      "yaw_degrees_local": 42.993223221394544,
+      "yaw_radians": 0.751397734445557,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4352990789941176,
+        8.783799959685627,
+        0.7629066244310501
+      ],
+      "z_min": 0.7404096157122015,
+      "z_max": 0.7854036391397676
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.399944187783039,
+        8.48121495374848,
+        0.7407209866659449
+      ],
+      "rotation_wxyz": [
+        0.22872322921404895,
+        -5.4317992345347674e-05,
+        0.0005081627415974959,
+        0.9734913575569543
+      ],
+      "yaw_degrees_local": 153.4974569256276,
+      "yaw_radians": 2.6800608700214132,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.399944187783039,
+        8.48121495374848,
+        0.9182209813015269
+      ],
+      "z_min": 0.7407209866659449,
+      "z_max": 1.095720975937109
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.67527242925152,
+        8.732548788771737,
+        0.7870214496080947
+      ],
+      "rotation_wxyz": [
+        0.6431575359687102,
+        -0.00037466509603033553,
+        -0.0003475714056951349,
+        -0.765733715299804
+      ],
+      "yaw_degrees_local": -100.0033498566308,
+      "yaw_radians": -1.7443630536046764,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.67527242925152,
+        8.732548788771737,
+        0.8336030528740127
+      ],
+      "z_min": 0.7404312157433947,
+      "z_max": 0.8335944222752306
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.0037046130262524,
+        8.873792409992593,
+        0.7965329754814392
+      ],
+      "rotation_wxyz": [
+        0.5327628954191116,
+        -0.0003237838750330979,
+        -0.000395403361782451,
+        -0.8462644008138526
+      ],
+      "yaw_degrees_local": -115.6740543693709,
+      "yaw_radians": -2.017868574898205,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0037046130262524,
+        8.873792409992593,
+        0.8527152552913319
+      ],
+      "z_min": 0.740373055311475,
+      "z_max": 0.8527376149312603
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.5916918256248778,
+        8.329099762741892,
+        0.7408509691518437
+      ],
+      "rotation_wxyz": [
+        0.8733648839869905,
+        -0.0004120413574399278,
+        0.00030232720023076705,
+        0.4870662359870316
+      ],
+      "yaw_degrees_local": 58.23716889835009,
+      "yaw_radians": 1.0174548368244154,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5916918256248778,
+        8.329099762741892,
+        0.7633479808656267
+      ],
+      "z_min": 0.7408509721467782,
+      "z_max": 0.7858449955743443
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.977691307735102,
+        8.252609190494072,
+        0.7676055923670106
+      ],
+      "rotation_wxyz": [
+        0.7352752002532218,
+        -0.00032993278429938283,
+        0.0003902872968529331,
+        0.6777684845968929
+      ],
+      "yaw_degrees_local": 85.28032278069554,
+      "yaw_radians": 1.4894471322054934,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.977691307735102,
+        8.252609190494072,
+        0.7941800770230847
+      ],
+      "z_min": 0.7410063597943449,
+      "z_max": 0.7941553291064929
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.3574708901366015,
+        8.30869298892195,
+        0.825311508202616
+      ],
+      "rotation_wxyz": [
+        0.9915994072134177,
+        -0.0004946617503255427,
+        0.00012841171677531273,
+        0.12934587134571648
+      ],
+      "yaw_degrees_local": 14.804880272196328,
+      "yaw_radians": 0.25941841490716616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3574708901366015,
+        8.30869298892195,
+        0.9097216302973196
+      ],
+      "z_min": 0.7409013895008373,
+      "z_max": 0.9097216336902443
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        1.876444588798892,
+        8.873255326654752,
+        0.7535848963832257
+      ],
+      "rotation_wxyz": [
+        0.01865052230483774,
+        5.388153898727851e-05,
+        0.0005082092049507516,
+        0.999825933269357
+      ],
+      "yaw_degrees_local": 177.80397295375485,
+      "yaw_radians": 3.1042893960873026,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.876444588798892,
+        8.873255326654752,
+        0.7668125459733928
+      ],
+      "z_min": 0.740516402637515,
+      "z_max": 0.766971701817849
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        2.4608093356811276,
+        8.261217979873253,
+        0.7528704889748582
+      ],
+      "rotation_wxyz": [
+        0.4555069084598531,
+        -0.00017459813381955218,
+        0.00048030751389817165,
+        0.8902321018507089
+      ],
+      "yaw_degrees_local": 125.74617321625851,
+      "yaw_radians": 2.195709695023654,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4608093356811276,
+        8.261217979873253,
+        0.7645578139275249
+      ],
+      "z_min": 0.7410631102814591,
+      "z_max": 0.7644377601867924
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.6355077315740316,
+        8.327096235615791,
+        0.7999726154436206
+      ],
+      "rotation_wxyz": [
+        0.9170695550330622,
+        -0.0004398010361260599,
+        0.0002602976466715686,
+        0.3987269367018553
+      ],
+      "yaw_degrees_local": 46.938530561933504,
+      "yaw_radians": 0.8202563464125845,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6355077315740316,
+        8.327096235615791,
+        0.8590988934761408
+      ],
+      "z_min": 0.7409741846029145,
+      "z_max": 0.8592267406679548
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.192158102851784,
+        8.568360657118252,
+        0.8270462295868353
+      ],
+      "rotation_wxyz": [
+        0.5401840860734907,
+        -0.00032724841196138464,
+        -0.00039254081712487496,
+        -0.841546725959487
+      ],
+      "yaw_degrees_local": -114.66635829107385,
+      "yaw_radians": -2.0002809530386485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.192158102851784,
+        8.568360657118252,
+        0.913445508545102
+      ],
+      "z_min": 0.7406589725444743,
+      "z_max": 0.9134575304610076
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.0344577151151584,
+        8.352311906374258,
+        0.8111964417454421
+      ],
+      "rotation_wxyz": [
+        0.03938394858780216,
+        4.3329156199038666e-05,
+        0.0005092174392765746,
+        0.9992240206349212
+      ],
+      "yaw_degrees_local": 175.42705340667516,
+      "yaw_radians": 3.062804345409865,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0344577151151584,
+        8.352311906374258,
+        0.8813728079773611
+      ],
+      "z_min": 0.741024769605222,
+      "z_max": 0.8813775020690597
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        1.7365849421647988,
+        8.293537242089887,
+        0.7529226519637493
+      ],
+      "rotation_wxyz": [
+        0.6348430159663113,
+        -0.00027299179696822957,
+        0.0004320362195792959,
+        0.7726409799505732
+      ],
+      "yaw_degrees_local": 101.12459283062651,
+      "yaw_radians": 1.7659819455056214,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7365849421647988,
+        8.293537242089887,
+        0.7647939225103191
+      ],
+      "z_min": 0.7411220910842999,
+      "z_max": 0.7648646321774394
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.4104050601583245,
+        8.894399850492588,
+        0.7965872464702816
+      ],
+      "rotation_wxyz": [
+        0.679846669598377,
+        -0.000298302712643349,
+        0.0004149642248073105,
+        0.7333541059107662
+      ],
+      "yaw_degrees_local": 94.2779508540981,
+      "yaw_radians": 1.6464854462518463,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4104050601583245,
+        8.894399850492588,
+        0.8527695262801742
+      ],
+      "z_min": 0.7404273263003174,
+      "z_max": 0.8527918859201027
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.113468221305373,
+        8.297285918450855,
+        0.7802898147485129
+      ],
+      "rotation_wxyz": [
+        0.9531948942953942,
+        -0.0005025347658287246,
+        -9.29442057031079e-05,
+        -0.30235613489621205
+      ],
+      "yaw_degrees_local": -35.25706145580014,
+      "yaw_radians": -0.6143268999372462,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.113468221305373,
+        8.297285918450855,
+        0.8196386740743887
+      ],
+      "z_min": 0.7409438507905766,
+      "z_max": 0.8196415694423282
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        1.9829600557316982,
+        8.74807217945534,
+        0.7516499176754459
+      ],
+      "rotation_wxyz": [
+        0.6933050858766762,
+        -0.0003972392617433593,
+        -0.0003215288247885459,
+        -0.7206440152514406
+      ],
+      "yaw_degrees_local": -92.27408028338225,
+      "yaw_radians": -1.609461780570177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9829600557316982,
+        8.74807217945534,
+        0.7625293378785821
+      ],
+      "z_min": 0.7406298707144413,
+      "z_max": 0.7623887111207138
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.72016836588281,
+        8.853462079063409,
+        0.7462067103535458
+      ],
+      "rotation_wxyz": [
+        0.8869287539437283,
+        -0.0004205137289122255,
+        0.000290427305941862,
+        0.4619059690543192
+      ],
+      "yaw_degrees_local": 54.96162686815359,
+      "yaw_radians": 0.9602858254168315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.72016836588281,
+        8.853462079063409,
+        0.7518555615668279
+      ],
+      "z_min": 0.7405562740837589,
+      "z_max": 0.7518539765103232
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.8786032544083633,
+        8.291057259945628,
+        0.8412369630466713
+      ],
+      "rotation_wxyz": [
+        0.9806994288981331,
+        -0.00048494198200127914,
+        0.00016127954096221793,
+        0.19552076354970493
+      ],
+      "yaw_degrees_local": 22.491586060771624,
+      "yaw_radians": 0.39357669620383146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8786032544083633,
+        8.291057259945628,
+        0.9414538431093213
+      ],
+      "z_min": 0.7409799575683927,
+      "z_max": 0.9414137176936928
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.741295446476787,
+        8.318119909232157,
+        0.7674423997881703
+      ],
+      "rotation_wxyz": [
+        0.297187828536262,
+        -9.02203933841024e-05,
+        0.0005030309104398362,
+        0.9548189008341244
+      ],
+      "yaw_degrees_local": 145.3637336729853,
+      "yaw_radians": 2.538100669427366,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.741295446476787,
+        8.318119909232157,
+        0.7940168844442443
+      ],
+      "z_min": 0.7408431672155046,
+      "z_max": 0.7939921365276525
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        1.9835251575778856,
+        8.22101857737114,
+        0.756370033139909
+      ],
+      "rotation_wxyz": [
+        0.15073377700243942,
+        -0.00013906622027594692,
+        -0.0004917727143899654,
+        -0.9885742598766988
+      ],
+      "yaw_degrees_local": -162.71980335241818,
+      "yaw_radians": -2.838971833449053,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9835251575778856,
+        8.22101857737114,
+        0.7715385100924405
+      ],
+      "z_min": 0.7411643560242457,
+      "z_max": 0.7715013099293085
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.742375331192126,
+        8.426296150060477,
+        0.7460205145893476
+      ],
+      "rotation_wxyz": [
+        0.5198731017421062,
+        -0.0002095191646234084,
+        0.00046613467570630454,
+        0.8542433475920229
+      ],
+      "yaw_degrees_local": 117.29380087594353,
+      "yaw_radians": 2.048187951329972,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.742375331192126,
+        8.426296150060477,
+        0.751321505220461
+      ],
+      "z_min": 0.7407333034360799,
+      "z_max": 0.7513352846983069
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.7994050648325315,
+        8.266308777465992,
+        0.8578546810373555
+      ],
+      "rotation_wxyz": [
+        0.5445138945645691,
+        -0.0002229963102805435,
+        0.0004598396044726641,
+        0.8387516661362344
+      ],
+      "yaw_degrees_local": 113.95837757406434,
+      "yaw_radians": 1.9899738202148618,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7994050648325315,
+        8.266308777465992,
+        0.974713499713328
+      ],
+      "z_min": 0.7410151014370909,
+      "z_max": 0.9747327387890358
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.6332013214816006,
+        8.571597548194722,
+        0.7794709340630491
+      ],
+      "rotation_wxyz": [
+        0.9134045690792666,
+        -0.0004374150269741629,
+        0.000264287552520933,
+        0.4070526157701278
+      ],
+      "yaw_degrees_local": 47.98093367798873,
+      "yaw_radians": 0.8384497160582546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6332013214816006,
+        8.571597548194722,
+        0.8184183655980558
+      ],
+      "z_min": 0.7405997840949281,
+      "z_max": 0.8184946471649416
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.170359961636526,
+        8.873094518040942,
+        0.745732469914397
+      ],
+      "rotation_wxyz": [
+        0.9685967197757344,
+        -0.0005069421122827697,
+        -6.472643227149405e-05,
+        -0.2486365485198659
+      ],
+      "yaw_degrees_local": -28.852403893553316,
+      "yaw_radians": -0.5025445756618137,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.170359961636526,
+        8.873094518040942,
+        0.7509683852325305
+      ],
+      "z_min": 0.7404793222453159,
+      "z_max": 0.7509511528815829
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.6127738269478282,
+        8.863420991989992,
+        0.7770886462419238
+      ],
+      "rotation_wxyz": [
+        0.1235902596366894,
+        -0.00012553944062624088,
+        -0.0004953984912043669,
+        -0.9923332033864026
+      ],
+      "yaw_degrees_local": -165.8600038725878,
+      "yaw_radians": -2.893778651742256,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6127738269478282,
+        8.863420991989992,
+        0.8136988593111024
+      ],
+      "z_min": 0.740433095517639,
+      "z_max": 0.8136535216559964
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        4.881425394931255,
+        8.15848079537101,
+        0.9258898296256565
+      ],
+      "rotation_wxyz": [
+        0.995476070289518,
+        0.0,
+        0.0,
+        0.09501259643299215
+      ],
+      "yaw_degrees_local": -79.0959103714263,
+      "yaw_radians": 0.19031226595117662,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.881425394931255,
+        8.15848079537101,
+        0.9317208806504427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318621309459042
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.9644397413509385,
+        8.407997282792596,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        -0.2907491929266772,
+        0.0,
+        0.0,
+        0.9567993033089468
+      ],
+      "yaw_degrees_local": 123.80562885665313,
+      "yaw_radians": -2.5515731243339896,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9644397413509385,
+        8.407997282792596,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        4.970036579465581,
+        8.257383015267997,
+        0.9728779527886744
+      ],
+      "rotation_wxyz": [
+        0.6516498342998541,
+        0.0,
+        0.0,
+        0.7585199360972478
+      ],
+      "yaw_degrees_local": 8.667783780755002,
+      "yaw_radians": 1.7220776926200339,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.970036579465581,
+        8.257383015267997,
+        1.0254269816478925
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.025298086614768
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.265409544152211,
+        8.304043813433498,
+        0.7884675004931821
+      ],
+      "rotation_wxyz": [
+        0.5095748424694317,
+        -0.00020390506695374219,
+        0.00046861769056545714,
+        0.8604261843658861
+      ],
+      "yaw_degrees_local": 118.67025199295637,
+      "yaw_radians": 2.072211559539677,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.265409544152211,
+        8.304043813433498,
+        0.8359200262321625
+      ],
+      "z_min": 0.7410444509197536,
+      "z_max": 0.8359495023977145
+    }
+  ],
+  "variant_index": 67
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0068/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0068/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..9ff9a74a21ec405e00256f70dd157a504dcb250c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0068/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3229300542018308835
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0784311168, 2.33817155e-05, 0.000510522391, 0.996919404)
+            double3 xformOp:translate = (3.29270773622, 8.29667854989, 0.740921733408)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.665758607, -0.000384886899, -0.00033621703, -0.746167016)
+            double3 xformOp:translate = (2.01916416324, 8.58643395532, 0.740789216545)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925469598, -0.000445321849, 0.000250735452, 0.378821545)
+            double3 xformOp:translate = (3.62990377784, 8.39350749041, 0.779651976533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93673309, -0.000497207779, -0.000118170387, -0.350044078)
+            double3 xformOp:translate = (3.54746616021, 8.56364522104, 0.752197426105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993143294, -0.000511044632, 3.63316977e-06, -0.116902253)
+            double3 xformOp:translate = (2.15279149988, 8.30473961406, 0.77992915955)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.17653003, -2.71655637e-05, 0.000510335035, 0.984295122)
+            double3 xformOp:translate = (1.76312935831, 8.6803514815, 0.818093960046)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996967872, -0.000500648846, 0.000102618466, 0.0778125963)
+            double3 xformOp:translate = (1.89926959467, 8.79174613152, 0.788120001287)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.597717158, -0.000252323341, 0.000444424063, 0.801706891)
+            double3 xformOp:translate = (1.7535669841, 8.5129614195, 0.7509190839)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0441084278, -8.5656967e-05, -0.000503828046, -0.999026619)
+            double3 xformOp:translate = (3.64720936292, 8.78160809755, 0.805689337094)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.923941943, -0.000444312067, 0.0002525205, 0.382532384)
+            double3 xformOp:translate = (3.10353520361, 8.26742988993, 0.74452893901)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0767551044, -0.000102087388, -0.000500757408, -0.997049845)
+            double3 xformOp:translate = (1.95247761724, 8.88567334206, 0.787817247225)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.763001518, -0.000427879814, -0.000279461413, -0.64639649)
+            double3 xformOp:translate = (3.73943178231, 8.64562000452, 0.779868322388)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.851126207, -0.000464876237, -0.000212296728, -0.524960874)
+            double3 xformOp:translate = (1.88899180412, 8.33780545793, 0.79373582796)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.712069296, 0, 0, 0.702109192)
+            double3 xformOp:translate = (4.86579170028, 8.10816403513, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929569112, 0, 0, 0.36864789)
+            double3 xformOp:translate = (4.9736323083, 8.44812941393, 1.00138971739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.170750344, -2.41700342e-05, 0.000510485676, 0.985314193)
+            double3 xformOp:translate = (3.1805319824, 8.91572527019, 0.745561242507)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.945872126, -0.000459107116, 0.000224500495, 0.32453915)
+            double3 xformOp:translate = (2.70127013494, 8.25589746573, 0.751485378678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.176860401, -0.000152040605, -0.000487917483, -0.984235814)
+            double3 xformOp:translate = (3.44199211813, 8.85469062653, 0.749156376706)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.634665314, -0.000272892434, 0.000432098988, 0.772786955)
+            double3 xformOp:translate = (3.20980037937, 8.42837083152, 0.789664267346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.28707357, -8.48955702e-05, 0.000503956901, 0.957908401)
+            double3 xformOp:translate = (2.70364110788, 8.88972036449, 0.745758355263)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.95605771, -0.000466259128, 0.000209242065, 0.293178094)
+            double3 xformOp:translate = (1.90842863933, 8.6620534312, 0.765753267857)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.594353183, 0, 0, 0.804204137)
+            double3 xformOp:translate = (4.82803960652, 8.77785208947, 0.979198459737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.915660614, -0.000438882233, 0.000261843851, 0.401951961)
+            double3 xformOp:translate = (2.87688819797, 8.87734802061, 0.746325743308)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997233161, -0.00051042204, 2.54785635e-05, -0.074335463)
+            double3 xformOp:translate = (2.42381259427, 8.30561817007, 0.79370071095)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.679384299, -0.0002980411, 0.000415152164, 0.73378247)
+            double3 xformOp:translate = (3.41499587277, 8.36672693073, 0.813607453853)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.935475898, -0.000496782211, -0.000119946866, -0.353390128)
+            double3 xformOp:translate = (1.83565085456, 8.91188508541, 0.740482384879)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.256566075, -0.000191338734, -0.000473887439, -0.966526558)
+            double3 xformOp:translate = (3.39776010432, 8.22904305282, 0.77763259412)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.620383765, 0, 0, 0.784298403)
+            double3 xformOp:translate = (4.97618065311, 8.17277563672, 0.998909598959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.848900117, -0.000463974918, -0.000214259403, -0.528553053)
+            double3 xformOp:translate = (3.67599897881, 8.8923708108, 0.81044071151)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992410316, -0.000511057292, 5.09926646e-07, -0.122969521)
+            double3 xformOp:translate = (3.38193905826, 8.46015851495, 0.745997774467)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0068/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0068/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f433c87825d34fcdb6a7266cea4a30e6c3d5ef6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0068/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3229300542018308835,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 1,
+    "clock": 3,
+    "electronics": 4,
+    "paper_goods": 1,
+    "small object": 6,
+    "office_supply": 3,
+    "writing_instrument": 2,
+    "electronics accessory": 1,
+    "small electronic device": 1,
+    "timepiece": 1
+  },
+  "failed_sampling_attempt_count": 182,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.2927077362243384,
+        8.29667854989042,
+        0.740921733408261
+      ],
+      "rotation_wxyz": [
+        0.07843111675255314,
+        2.3381715481359216e-05,
+        0.0005105223909109779,
+        0.9969194043377486
+      ],
+      "yaw_degrees_local": 170.94450446833957,
+      "yaw_radians": 2.9845691483760697,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2927077362243384,
+        8.29667854989042,
+        0.763418745122044
+      ],
+      "z_min": 0.7409217364031955,
+      "z_max": 0.7859157598307616
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.019164163235387,
+        8.586433955318792,
+        0.7407892165450395
+      ],
+      "rotation_wxyz": [
+        0.6657586070040294,
+        -0.0003848868987529121,
+        -0.00033621703021809916,
+        -0.7461670161701321
+      ],
+      "yaw_degrees_local": -96.57759706751798,
+      "yaw_radians": -1.6845723568851103,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.019164163235387,
+        8.586433955318792,
+        0.890789222505504
+      ],
+      "z_min": 0.7407892165450395,
+      "z_max": 1.0407892284659686
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.6299037778373426,
+        8.39350749041138,
+        0.7796519765325982
+      ],
+      "rotation_wxyz": [
+        0.9254695975500774,
+        -0.00044532184911614777,
+        0.00025073545210059056,
+        0.3788215448343477
+      ],
+      "yaw_degrees_local": 44.46270674886375,
+      "yaw_radians": 0.7770450630464399,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6299037778373426,
+        8.39350749041138,
+        0.8185994080676049
+      ],
+      "z_min": 0.7407808265644772,
+      "z_max": 0.8186756896344907
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.547466160211404,
+        8.563645221035108,
+        0.7521974261049946
+      ],
+      "rotation_wxyz": [
+        0.9367330902685701,
+        -0.0004972077794485187,
+        -0.00011817038671420931,
+        -0.35004407781889263
+      ],
+      "yaw_degrees_local": -41.03873827917303,
+      "yaw_radians": -0.7152361720359602,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.547466160211404,
+        8.563645221035108,
+        0.7637101805284451
+      ],
+      "z_min": 0.7406186980855435,
+      "z_max": 0.7636442069324443
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        2.1527914998849194,
+        8.304739614059446,
+        0.7799291595497091
+      ],
+      "rotation_wxyz": [
+        0.9931432938190082,
+        -0.000511044632412618,
+        3.6331697682169377e-06,
+        -0.11690225302583013
+      ],
+      "yaw_degrees_local": -13.485424744637527,
+      "yaw_radians": -0.23434031567418553,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1527914998849194,
+        8.304739614059446,
+        0.8188765910847158
+      ],
+      "z_min": 0.7410580095815881,
+      "z_max": 0.8189528726516015
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.7631293583143617,
+        8.680351481504838,
+        0.8180939600456835
+      ],
+      "rotation_wxyz": [
+        0.1765300297404358,
+        -2.716556372670399e-05,
+        0.0005103350354303759,
+        0.9842951221153262
+      ],
+      "yaw_degrees_local": 159.60586951660684,
+      "yaw_radians": 2.7866727349446885,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7631293583143617,
+        8.680351481504838,
+        0.8954757151790229
+      ],
+      "z_min": 0.7407264426783001,
+      "z_max": 0.895489952944979
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.8992695946659057,
+        8.791746131517712,
+        0.7881200012870879
+      ],
+      "rotation_wxyz": [
+        0.9969678724395755,
+        -0.0005006488456928683,
+        0.00010261846591482002,
+        0.07781259630349191
+      ],
+      "yaw_degrees_local": 8.866980182324795,
+      "yaw_radians": 0.15578255024945584,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8992695946659057,
+        8.791746131517712,
+        0.8356434784873317
+      ],
+      "z_min": 0.7405961979302303,
+      "z_max": 0.835643152330718
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.7535669840968828,
+        8.512961419503567,
+        0.7509190838996255
+      ],
+      "rotation_wxyz": [
+        0.5977171576167964,
+        -0.00025232334057334697,
+        0.00044442406330240424,
+        0.8017068905221421
+      ],
+      "yaw_degrees_local": 106.52812749578379,
+      "yaw_radians": 1.860291453207305,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7535669840968828,
+        8.512961419503567,
+        0.7609564348804442
+      ],
+      "z_min": 0.7408973914501233,
+      "z_max": 0.7609720934117608
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.6472093629205644,
+        8.781608097554036,
+        0.8056893370937617
+      ],
+      "rotation_wxyz": [
+        0.04410842781637133,
+        -8.565696699533706e-05,
+        -0.0005038280463069442,
+        -0.9990266189725637
+      ],
+      "yaw_degrees_local": -175.0026158607859,
+      "yaw_radians": -3.0533472639538823,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6472093629205644,
+        8.781608097554036,
+        0.8710450614554032
+      ],
+      "z_min": 0.7403850236112591,
+      "z_max": 0.8710964723345421
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.1035352036080224,
+        8.26742988993151,
+        0.7445289390100517
+      ],
+      "rotation_wxyz": [
+        0.9239419429575939,
+        -0.0004443120674135178,
+        0.00025252050014016334,
+        0.3825323840721596
+      ],
+      "yaw_degrees_local": 44.922561436238226,
+      "yaw_radians": 0.7850710424179056,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1035352036080224,
+        8.26742988993151,
+        0.7481039995862715
+      ],
+      "z_min": 0.7409753715633481,
+      "z_max": 0.7481254927157878
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.9524776172398752,
+        8.885673342056727,
+        0.7878172472247821
+      ],
+      "rotation_wxyz": [
+        0.07675510437502764,
+        -0.00010208738787017489,
+        -0.0005007574078115641,
+        -0.9970498446780697
+      ],
+      "yaw_degrees_local": -171.25456300792808,
+      "yaw_radians": -2.9879314312536147,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9524776172398752,
+        8.885673342056727,
+        0.835183373886037
+      ],
+      "z_min": 0.7404941923100323,
+      "z_max": 0.8352264456325423
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.739431782312133,
+        8.645620004520321,
+        0.7798683223877023
+      ],
+      "rotation_wxyz": [
+        0.7630015180977716,
+        -0.00042787981352129985,
+        -0.0002794614131168922,
+        -0.6463964899353029
+      ],
+      "yaw_degrees_local": -80.599643919801,
+      "yaw_radians": -1.4057043293561615,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.739431782312133,
+        8.645620004520321,
+        0.8191083972275935
+      ],
+      "z_min": 0.7405112488732917,
+      "z_max": 0.8189913985530742
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        1.8889918041232285,
+        8.337805457925366,
+        0.7937358279602333
+      ],
+      "rotation_wxyz": [
+        0.8511262066321684,
+        -0.00046487623692466893,
+        -0.0002122967276786709,
+        -0.5249608739745464
+      ],
+      "yaw_degrees_local": -63.38993834166398,
+      "yaw_radians": -1.1053382051406482,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8889918041232285,
+        8.337805457925366,
+        0.8462848568194514
+      ],
+      "z_min": 0.7410579040678907,
+      "z_max": 0.846155961786327
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.865791700283903,
+        8.108164035128667,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.712069295977274,
+        0.0,
+        0.0,
+        0.702109192167735
+      ],
+      "yaw_degrees_local": -0.8070586293563053,
+      "yaw_radians": 1.5567104964559966,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.865791700283903,
+        8.108164035128667,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        4.973632308301689,
+        8.44812941393315,
+        1.0013897173902184
+      ],
+      "rotation_wxyz": [
+        0.9295691117691784,
+        0.0,
+        0.0,
+        0.3686478895160809
+      ],
+      "yaw_degrees_local": -46.73549345329002,
+      "yaw_radians": 0.755108088490731,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.973632308301689,
+        8.44812941393315,
+        1.0826335706835835
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0826877354830617
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.180531982400066,
+        8.915725270190439,
+        0.7455612425069773
+      ],
+      "rotation_wxyz": [
+        0.17075034406715078,
+        -2.4170034208567667e-05,
+        0.0005104856762796282,
+        0.9853141929461555
+      ],
+      "yaw_degrees_local": 160.27838998644881,
+      "yaw_radians": 2.7984104259084894,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.180531982400066,
+        8.915725270190439,
+        0.7507971578251108
+      ],
+      "z_min": 0.7403080948378962,
+      "z_max": 0.7507799254741632
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17135408564547958,
+        0.12615247863082146,
+        0.020837576756573974
+      ],
+      "bbox_min_m": [
+        -0.08557922064932827,
+        -0.06318043175369172,
+        -0.010447339522802175
+      ],
+      "bbox_max_m": [
+        0.08577486499615133,
+        0.0629720468771298,
+        0.010390237233771776
+      ],
+      "translation_world": [
+        2.7012701349423938,
+        8.25589746572924,
+        0.7514853786777937
+      ],
+      "rotation_wxyz": [
+        0.9458721260828431,
+        -0.0004591071161031864,
+        0.0002245004948407195,
+        0.3245391500569789
+      ],
+      "yaw_degrees_local": 37.8166084744409,
+      "yaw_radians": 0.6610487587580851,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7012701349423938,
+        8.25589746572924,
+        0.7619041670560808
+      ],
+      "z_min": 0.7410380391549916,
+      "z_max": 0.7618756159115655
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        3.4419921181275885,
+        8.854690626529253,
+        0.7491563767059676
+      ],
+      "rotation_wxyz": [
+        0.1768604011288752,
+        -0.00015204060534087935,
+        -0.0004879174833595242,
+        -0.9842358138844153
+      ],
+      "yaw_degrees_local": -159.6848273862161,
+      "yaw_radians": -2.7860015271644847,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4419921181275885,
+        8.854690626529253,
+        0.7579584998293616
+      ],
+      "z_min": 0.7403368727082127,
+      "z_max": 0.7579411189550008
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.209800379372215,
+        8.428370831517434,
+        0.789664267346394
+      ],
+      "rotation_wxyz": [
+        0.634665314222555,
+        -0.00027289243398285936,
+        0.0004320989883293218,
+        0.7727869549513433
+      ],
+      "yaw_degrees_local": 101.15094555702552,
+      "yaw_radians": 1.7664418875409569,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.209800379372215,
+        8.428370831517434,
+        0.8385317318523432
+      ],
+      "z_min": 0.7407986998340759,
+      "z_max": 0.8385336288459743
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.703641107882992,
+        8.889720364490426,
+        0.7457583552625786
+      ],
+      "rotation_wxyz": [
+        0.287073570294014,
+        -8.489557015018887e-05,
+        0.0005039569013409648,
+        0.9579084006620006
+      ],
+      "yaw_degrees_local": 146.57561350245186,
+      "yaw_radians": 2.559251956049934,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.703641107882992,
+        8.889720364490426,
+        0.7510937959575794
+      ],
+      "z_min": 0.7403948925157685,
+      "z_max": 0.7510657739057701
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        1.9084286393314218,
+        8.662053431196714,
+        0.7657532678572929
+      ],
+      "rotation_wxyz": [
+        0.9560577096494173,
+        -0.0004662591280218777,
+        0.00020924206502658782,
+        0.29317809372477754
+      ],
+      "yaw_degrees_local": 34.037934176455906,
+      "yaw_radians": 0.5950984531712462,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9084286393314218,
+        8.662053431196714,
+        0.7906975094274182
+      ],
+      "z_min": 0.7407265642272629,
+      "z_max": 0.7906150473675135
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        4.828039606519624,
+        8.77785208947248,
+        0.9791984597370379
+      ],
+      "rotation_wxyz": [
+        -0.5943531826253903,
+        0.0,
+        0.0,
+        0.8042041372083768
+      ],
+      "yaw_degrees_local": 162.93307136052567,
+      "yaw_radians": -1.8686704247566404,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.828039606519624,
+        8.77785208947248,
+        1.0383247377695581
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0384525849613722
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.8768881979723395,
+        8.877348020610903,
+        0.7463257433082192
+      ],
+      "rotation_wxyz": [
+        0.915660614044204,
+        -0.0004388822326457766,
+        0.00026184385062126445,
+        0.40195196069726474
+      ],
+      "yaw_degrees_local": 47.34181976655378,
+      "yaw_radians": 0.8272950720460596,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8768881979723395,
+        8.877348020610903,
+        0.7521429560747915
+      ],
+      "z_min": 0.7403854906459095,
+      "z_max": 0.7520199161790542
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.423812594274226,
+        8.305618170073938,
+        0.7937007109499407
+      ],
+      "rotation_wxyz": [
+        0.9972331611836736,
+        -0.0005104220401205054,
+        2.5478563529636653e-05,
+        -0.07433546297563166
+      ],
+      "yaw_degrees_local": -8.584792637874187,
+      "yaw_radians": -0.14880819420275343,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.423812594274226,
+        8.305618170073938,
+        0.8462497398091587
+      ],
+      "z_min": 0.741022787057598,
+      "z_max": 0.8461208447760343
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.4149958727746936,
+        8.366726930734286,
+        0.8136074538526232
+      ],
+      "rotation_wxyz": [
+        0.6793842989959531,
+        -0.0002980411000430533,
+        0.0004151521635803423,
+        0.733782469876435
+      ],
+      "yaw_degrees_local": 94.35017830353928,
+      "yaw_radians": 1.6477460536611146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4149958727746936,
+        8.366726930734286,
+        0.886469898459367
+      ],
+      "z_min": 0.7408352350507468,
+      "z_max": 0.8865601242642341
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.8356508545612022,
+        8.911885085412314,
+        0.7404823848785554
+      ],
+      "rotation_wxyz": [
+        0.9354758981339334,
+        -0.0004967822113786386,
+        -0.00011994686614523184,
+        -0.35339012837188144
+      ],
+      "yaw_degrees_local": -41.44833864278513,
+      "yaw_radians": -0.7223850456072368,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8356508545612022,
+        8.911885085412314,
+        0.790482478755871
+      ],
+      "z_min": 0.7404823848785554,
+      "z_max": 0.8404825726331865
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.3977601043185395,
+        8.229043052824446,
+        0.777632594119589
+      ],
+      "rotation_wxyz": [
+        0.2565660752812033,
+        -0.00019133873353513524,
+        -0.00047388743947216323,
+        -0.9665265582667576
+      ],
+      "yaw_degrees_local": -150.3259018420535,
+      "yaw_radians": -2.622657498743009,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3977601043185395,
+        8.229043052824446,
+        0.8142428071887676
+      ],
+      "z_min": 0.7409770433953042,
+      "z_max": 0.8141974695336616
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        4.976180653110786,
+        8.172775636718207,
+        0.9989095989589569
+      ],
+      "rotation_wxyz": [
+        -0.6203837645126802,
+        0.0,
+        0.0,
+        0.7842984028602096
+      ],
+      "yaw_degrees_local": 166.6883288198128,
+      "yaw_radians": -1.803128817832003,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.976180653110786,
+        8.172775636718207,
+        1.0776202617835788
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0776213545455757
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.6759989788112684,
+        8.892370810801573,
+        0.8104407115095733
+      ],
+      "rotation_wxyz": [
+        0.8489001174052239,
+        -0.00046397491803112917,
+        -0.00021425940277691329,
+        -0.5285530526726538
+      ],
+      "yaw_degrees_local": -63.87420466021952,
+      "yaw_radians": -1.1137902485742974,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6759989788112684,
+        8.892370810801573,
+        0.8806170777414921
+      ],
+      "z_min": 0.7402690393693532,
+      "z_max": 0.8806217718331909
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.3819390582642495,
+        8.460158514948963,
+        0.7459977744669144
+      ],
+      "rotation_wxyz": [
+        0.9924103161663809,
+        -0.0005110572924977478,
+        5.099266457445301e-07,
+        -0.12296952137309493
+      ],
+      "yaw_degrees_local": -14.185738824807629,
+      "yaw_radians": -0.2465630959582556,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3819390582642495,
+        8.460158514948963,
+        0.7512336897850479
+      ],
+      "z_min": 0.7407446267978333,
+      "z_max": 0.7512164574341003
+    }
+  ],
+  "variant_index": 68
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0069/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0069/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..be704dfddb0e8a8c112e7f91964df82f5476119a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0069/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4375674064450204142
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.792495963, -0.000440523384, -0.00025907328, -0.609876944)
+            double3 xformOp:translate = (3.39646073626, 8.34265153289, 0.740861963503)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0749004487, 2.51893721e-05, 0.000510436393, 0.997190885)
+            double3 xformOp:translate = (1.89243849932, 8.34114956812, 0.741054048147)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.54592066, -0.000223767666, 0.000459464741, 0.837836721)
+            double3 xformOp:translate = (3.51399557505, 8.25500468722, 0.787512889621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.600363867, -0.000355117224, -0.000367520847, -0.799726807)
+            double3 xformOp:translate = (3.28208361696, 8.27812812422, 0.771533913643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.901019003, -0.000429440958, 0.000277056456, 0.433779316)
+            double3 xformOp:translate = (3.59531433692, 8.64435072186, 0.749707705775)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99815503, -0.000502334034, 9.40230558e-05, 0.0607146977)
+            double3 xformOp:translate = (3.06369905974, 8.30221294491, 0.755044280368)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.912785297, -0.000488762847, -0.00014930069, -0.408439396)
+            double3 xformOp:translate = (1.83232913891, 8.70535377847, 0.740692276441)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953225107, 0, 0, -0.302261302)
+            double3 xformOp:translate = (4.8517877487, 8.53515463509, 0.925453176565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999714417, 0, 0, -0.0238973608)
+            double3 xformOp:translate = (4.99706533736, 8.23641160168, 1.05015119201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999212727, -0.000504203636, 8.34176829e-05, 0.0396694546)
+            double3 xformOp:translate = (1.87658529395, 8.43312284936, 0.835836320365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.455778919, -0.000287520629, -0.000422506454, -0.890092869)
+            double3 xformOp:translate = (3.31359322548, 8.5440137446, 0.744221804178)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.570732752, -0.000341447079, -0.000380254794, -0.821135716)
+            double3 xformOp:translate = (3.66856385992, 8.28787577854, 0.774952703675)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.651625167, -0.000282395538, 0.00042594903, 0.758540955)
+            double3 xformOp:translate = (1.6973205724, 8.56399812476, 0.870803980627)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.271701307, -7.68166772e-05, 0.000505251437, 0.962381493)
+            double3 xformOp:translate = (3.69121326298, 8.36055789804, 0.752049555749)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.37546188, 0, 0, 0.926837837)
+            double3 xformOp:translate = (4.98020922064, 8.47713783696, 0.997567546264)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.717460789, -0.000407965721, -0.000307804787, -0.696598704)
+            double3 xformOp:translate = (3.16474678116, 8.44437698485, 0.806092496289)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97372428, -0.000479364326, 0.00017717127, 0.227729586)
+            double3 xformOp:translate = (2.31407737105, 8.87920119526, 0.746395172521)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.652349045, -0.00028280206, 0.000425679235, 0.757918506)
+            double3 xformOp:translate = (2.55900772731, 8.26888586031, 0.777698455128)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0885506891, 1.81962062e-05, 0.000510733506, 0.996071541)
+            double3 xformOp:translate = (3.73376236202, 8.84499793431, 0.800984253621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.171330142, -2.44704352e-05, 0.000510471365, 0.985213541)
+            double3 xformOp:translate = (2.14590399405, 8.21640956616, 0.744269380036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982879074, -0.000486761254, 0.000155702593, 0.184251093)
+            double3 xformOp:translate = (2.71597907947, 8.83984869, 0.805748255531)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.111424258, -0.000119461066, -0.000496899255, -0.993772798)
+            double3 xformOp:translate = (2.30816425063, 8.20709978491, 0.809190703502)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0784906099, -0.00010295893, -0.00050057894, -0.996914722)
+            double3 xformOp:translate = (2.841712508, 8.30118613576, 0.805222812559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.924138984, -0.000444442162, 0.00025229146, 0.382056117)
+            double3 xformOp:translate = (3.14638413402, 8.82627760143, 0.808456510039)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.374372516, -0.000248593858, -0.000446520896, -0.927278253)
+            double3 xformOp:translate = (2.69432635515, 8.29783723883, 0.81227895392)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.474521245, -0.000184873365, 0.000476446907, 0.880243902)
+            double3 xformOp:translate = (2.14288648803, 8.36670003728, 0.745316674807)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.903276948, -0.000485247191, -0.00016035891, -0.429057681)
+            double3 xformOp:translate = (3.4856262546, 8.42864788956, 0.747421872604)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986845547, -0.000490203551, 0.000144500155, 0.161665103)
+            double3 xformOp:translate = (2.00738083512, 8.88809552088, 0.746135193861)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.877091277, -0.000475215734, -0.000188015484, -0.480323465)
+            double3 xformOp:translate = (3.47470614687, 8.89260920562, 0.746952691698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.718858151, -0.000408582987, -0.000306984949, -0.695156599)
+            double3 xformOp:translate = (2.06841571866, 8.68434822471, 0.74597088243)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0069/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0069/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2901be6dcbc1c008fe78b92a095a502e1d817e5
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0069/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4375674064450204142,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 1,
+    "small object": 7,
+    "electronics accessory": 1,
+    "electronics": 6,
+    "writing_instrument": 2,
+    "clock": 1,
+    "paper_goods": 1,
+    "office_supply": 2,
+    "small electronic device": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 207,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.3964607362574735,
+        8.342651532892381,
+        0.7408619635031957
+      ],
+      "rotation_wxyz": [
+        0.792495963071915,
+        -0.00044052338412541915,
+        -0.0002590732797472581,
+        -0.6098769444198574
+      ],
+      "yaw_degrees_local": -75.21993348993604,
+      "yaw_radians": -1.311810631244371,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3964607362574735,
+        8.342651532892381,
+        0.7908620573805112
+      ],
+      "z_min": 0.7408619635031957,
+      "z_max": 0.8408621512578267
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.8924384993241334,
+        8.3411495681175,
+        0.7410540481467502
+      ],
+      "rotation_wxyz": [
+        0.07490044867967954,
+        2.5189372060115632e-05,
+        0.0005104363934669329,
+        0.9971908852410187
+      ],
+      "yaw_degrees_local": 171.3502837657236,
+      "yaw_radians": 2.991651329458741,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8924384993241334,
+        8.3411495681175,
+        0.8910540541072147
+      ],
+      "z_min": 0.7410540481467502,
+      "z_max": 1.0410540600676792
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.5139955750501266,
+        8.255004687224794,
+        0.7875128896208179
+      ],
+      "rotation_wxyz": [
+        0.5459206599748874,
+        -0.00022376766570923837,
+        0.00045946474078361135,
+        0.8378367214635364
+      ],
+      "yaw_degrees_local": 113.76607825371343,
+      "yaw_radians": 1.9866175631045775,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5139955750501266,
+        8.255004687224794,
+        0.8338800577567028
+      ],
+      "z_min": 0.740935990288459,
+      "z_max": 0.8336703265602289
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.282083616961036,
+        8.278128124218263,
+        0.7715339136430419
+      ],
+      "rotation_wxyz": [
+        0.600363866946173,
+        -0.00035511722449288496,
+        -0.00036752084717575216,
+        -0.7997268071570577
+      ],
+      "yaw_degrees_local": -106.26677489818327,
+      "yaw_radians": -1.8536804987938988,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.282083616961036,
+        8.278128124218263,
+        0.8021363151484346
+      ],
+      "z_min": 0.7409419129096664,
+      "z_max": 0.802146715920452
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17833628091672266,
+        0.24234621388359467,
+        0.017836933528484637
+      ],
+      "bbox_min_m": [
+        -0.08903270824870184,
+        -0.12116652095847395,
+        -0.009176925477404214
+      ],
+      "bbox_max_m": [
+        0.0893035726680208,
+        0.12117969292512071,
+        0.008660008051080373
+      ],
+      "translation_world": [
+        3.5953143369200697,
+        8.6443507218598,
+        0.7497077057749159
+      ],
+      "rotation_wxyz": [
+        0.9010190030323917,
+        -0.0004294409578144855,
+        0.00027705645632558336,
+        0.43377931600607594
+      ],
+      "yaw_degrees_local": 51.35658731834715,
+      "yaw_radians": 0.897365998850606,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5953143369200697,
+        8.6443507218598,
+        0.7586261725391582
+      ],
+      "z_min": 0.7405307802975116,
+      "z_max": 0.7583677138259962
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.063699059736146,
+        8.302212944906188,
+        0.7550442803677381
+      ],
+      "rotation_wxyz": [
+        0.9981550301923071,
+        -0.0005023340335011656,
+        9.40230558254855e-05,
+        0.06071469774262637
+      ],
+      "yaw_degrees_local": 6.902963943374459,
+      "yaw_radians": 0.12150401580076924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.063699059736146,
+        8.302212944906188,
+        0.7691362056593323
+      ],
+      "z_min": 0.7409451462624081,
+      "z_max": 0.7691289968455967
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.8323291389075362,
+        8.705353778465254,
+        0.7406922764407918
+      ],
+      "rotation_wxyz": [
+        0.9127852970180007,
+        -0.0004887628465411793,
+        -0.00014930069015673124,
+        -0.4084393961996619
+      ],
+      "yaw_degrees_local": -48.272392609544085,
+      "yaw_radians": -0.8414872399758117,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8323291389075362,
+        8.705353778465254,
+        0.9181922710763738
+      ],
+      "z_min": 0.7406922764407918,
+      "z_max": 1.0956922657119557
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        4.851787748695894,
+        8.535154635088388,
+        0.9254531765654129
+      ],
+      "rotation_wxyz": [
+        0.9532251073730809,
+        0.0,
+        0.0,
+        -0.3022613019782368
+      ],
+      "yaw_degrees_local": -125.18694581019665,
+      "yaw_radians": -0.6141280581087554,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.851787748695894,
+        8.535154635088388,
+        0.9306890918835464
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9306718595325988
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        4.997065337358117,
+        8.236411601676895,
+        1.050151192011968
+      ],
+      "rotation_wxyz": [
+        0.9997144172953742,
+        0.0,
+        0.0,
+        -0.023897360769982667
+      ],
+      "yaw_degrees_local": -92.73869654032865,
+      "yaw_radians": -0.04779927184171265,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.997065337358117,
+        8.236411601676895,
+        1.180318341526737
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.18053432792587
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.876585293951837,
+        8.43312284935577,
+        0.8358363203648675
+      ],
+      "rotation_wxyz": [
+        0.9992127266980779,
+        -0.0005042036358734743,
+        8.341768285130949e-05,
+        0.03966945455607312
+      ],
+      "yaw_degrees_local": 4.488267920728788,
+      "yaw_radians": 0.07935963959336943,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.876585293951837,
+        8.43312284935577,
+        0.9307331664290711
+      ],
+      "z_min": 0.7409628240624528,
+      "z_max": 0.9307565161908601
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.3135932254815534,
+        8.544013744598521,
+        0.7442218041781817
+      ],
+      "rotation_wxyz": [
+        0.4557789189602855,
+        -0.0002875206294980034,
+        -0.0004225064542150622,
+        -0.8900928692285864
+      ],
+      "yaw_degrees_local": -125.82857785540739,
+      "yaw_radians": -2.195098506339203,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3135932254815534,
+        8.544013744598521,
+        0.7477968647544015
+      ],
+      "z_min": 0.7406682367314782,
+      "z_max": 0.7478183578839178
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.6685638599159294,
+        8.287875778544121,
+        0.7749527036754006
+      ],
+      "rotation_wxyz": [
+        0.5707327518603686,
+        -0.00034144707927247095,
+        -0.0003802547939166732,
+        -0.8211357164160349
+      ],
+      "yaw_degrees_local": -110.45602284028998,
+      "yaw_radians": -1.9267967038548743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6685638599159294,
+        8.287875778544121,
+        0.8089512598460794
+      ],
+      "z_min": 0.7408830608617748,
+      "z_max": 0.8088801732031324
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.6973205724019105,
+        8.563998124756182,
+        0.8708039806267932
+      ],
+      "rotation_wxyz": [
+        0.6516251669888405,
+        -0.000282395537771592,
+        0.0004259490303862728,
+        0.758540955101931
+      ],
+      "yaw_degrees_local": 98.61278700833367,
+      "yaw_radians": 1.7221426447785801,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6973205724019105,
+        8.563998124756182,
+        1.0009711301415622
+      ],
+      "z_min": 0.7408528175111571,
+      "z_max": 1.0011871165406954
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.69121326298234,
+        8.360557898042819,
+        0.7520495557489888
+      ],
+      "rotation_wxyz": [
+        0.2717013068889207,
+        -7.68166772431909e-05,
+        0.000505251436749692,
+        0.9623814933045193
+      ],
+      "yaw_degrees_local": 148.41022608706555,
+      "yaw_radians": 2.591271975547786,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.69121326298234,
+        8.360557898042819,
+        0.763282554972901
+      ],
+      "z_min": 0.7408064626890396,
+      "z_max": 0.763272461136864
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        4.9802092206441415,
+        8.477137836963228,
+        0.9975675462637151
+      ],
+      "rotation_wxyz": [
+        0.37546188042463224,
+        0.0,
+        0.0,
+        0.9268378371365723
+      ],
+      "yaw_degrees_local": 45.894274521997005,
+      "yaw_radians": 2.371802525017891,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9802092206441415,
+        8.477137836963228,
+        1.0749493013970546
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0749635391630106
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.164746781161406,
+        8.444376984847892,
+        0.8060924962891485
+      ],
+      "rotation_wxyz": [
+        0.7174607893956992,
+        -0.00040796572089562747,
+        -0.00030780478686080173,
+        -0.6965987040613011
+      ],
+      "yaw_degrees_local": -88.36822605932855,
+      "yaw_radians": -1.5412917296905595,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.164746781161406,
+        8.444376984847892,
+        0.87144822065079
+      ],
+      "z_min": 0.7407881828066459,
+      "z_max": 0.8714996315299289
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.314077371051877,
+        8.879201195255272,
+        0.7463951725212179
+      ],
+      "rotation_wxyz": [
+        0.9737242804157028,
+        -0.000479364326466627,
+        0.00017717126954308848,
+        0.22772958645969985
+      ],
+      "yaw_degrees_local": 26.268172617905464,
+      "yaw_radians": 0.4594905505559106,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.314077371051877,
+        8.879201195255272,
+        0.7522123852877902
+      ],
+      "z_min": 0.7404549198589082,
+      "z_max": 0.7520893453920529
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.559007727312394,
+        8.268885860305973,
+        0.7776984551281227
+      ],
+      "rotation_wxyz": [
+        0.6523490451802338,
+        -0.00028280206042781593,
+        0.00042567923470389595,
+        0.7579185062212304
+      ],
+      "yaw_degrees_local": 98.50338701933026,
+      "yaw_radians": 1.7202332539181846,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.559007727312394,
+        8.268885860305973,
+        0.8143086681973014
+      ],
+      "z_min": 0.741042904403838,
+      "z_max": 0.8142633305421954
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.7337623620175293,
+        8.84499793431329,
+        0.8009842536207868
+      ],
+      "rotation_wxyz": [
+        0.08855068912042126,
+        1.819620624355949e-05,
+        0.0005107335061640801,
+        0.9960715407421711
+      ],
+      "yaw_degrees_local": 169.78081869079716,
+      "yaw_radians": 2.9642590106687736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7337623620175293,
+        8.84499793431329,
+        0.8616111200760465
+      ],
+      "z_min": 0.7403097628187045,
+      "z_max": 0.8615634957292237
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        2.145903994049769,
+        8.216409566156338,
+        0.7442693800360903
+      ],
+      "rotation_wxyz": [
+        0.17133014163810054,
+        -2.447043516315822e-05,
+        0.0005104713645673361,
+        0.9852135410084721
+      ],
+      "yaw_degrees_local": 160.21095637004998,
+      "yaw_radians": 2.7972334878322966,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.145903994049769,
+        8.216409566156338,
+        0.7472818965212498
+      ],
+      "z_min": 0.7411484507386249,
+      "z_max": 0.7471734837089437
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.715979079465878,
+        8.839848690004771,
+        0.8057482555311479
+      ],
+      "rotation_wxyz": [
+        0.9828790737194708,
+        -0.00048676125442656353,
+        0.00015570259287947291,
+        0.18425109298058182
+      ],
+      "yaw_degrees_local": 21.176237640488694,
+      "yaw_radians": 0.3706195418084452,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.715979079465878,
+        8.839848690004771,
+        0.8711039798927894
+      ],
+      "z_min": 0.7404439420486454,
+      "z_max": 0.8711553907719284
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.3081642506339657,
+        8.207099784912536,
+        0.8091907035024134
+      ],
+      "rotation_wxyz": [
+        0.11142425795022569,
+        -0.00011946106613338334,
+        -0.0004968992553008991,
+        -0.9937727977563209
+      ],
+      "yaw_degrees_local": -167.2638601249958,
+      "yaw_radians": -2.918280555947569,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3081642506339657,
+        8.207099784912536,
+        0.8772460470559993
+      ],
+      "z_min": 0.7411373683801039,
+      "z_max": 0.8772480554872756
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.8417125080022965,
+        8.301186135757565,
+        0.805222812559379
+      ],
+      "rotation_wxyz": [
+        0.07849060990965548,
+        -0.00010295893032494948,
+        -0.0005005789397354376,
+        -0.996914722017984
+      ],
+      "yaw_degrees_local": -171.0550868105939,
+      "yaw_radians": -2.9844499163722085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8417125080022965,
+        8.301186135757565,
+        0.8694117666470995
+      ],
+      "z_min": 0.7409743398261126,
+      "z_max": 0.8693522480015535
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.146384134016993,
+        8.826277601432599,
+        0.8084565100390011
+      ],
+      "rotation_wxyz": [
+        0.9241389842258209,
+        -0.0004444421619529118,
+        0.00025229146025764393,
+        0.38205611715329474
+      ],
+      "yaw_degrees_local": 44.863498906308564,
+      "yaw_radians": 0.7840402066744879,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.146384134016993,
+        8.826277601432599,
+        0.876511853592587
+      ],
+      "z_min": 0.7404031749166915,
+      "z_max": 0.8765138620238633
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        2.6943263551519827,
+        8.297837238830736,
+        0.8122789539203596
+      ],
+      "rotation_wxyz": [
+        0.3743725155005014,
+        -0.00024859385764068777,
+        -0.0004465208955733585,
+        -0.9272782529845133
+      ],
+      "yaw_degrees_local": -136.0876328210308,
+      "yaw_radians": -2.3741528291479517,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6943263551519827,
+        8.297837238830736,
+        0.8837572006504277
+      ],
+      "z_min": 0.740996414050149,
+      "z_max": 0.883952907510285
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.142886488029787,
+        8.36670003727643,
+        0.7453166748072106
+      ],
+      "rotation_wxyz": [
+        0.47452124454883987,
+        -0.00018487336492811887,
+        0.0004764469069901359,
+        0.8802439021612158
+      ],
+      "yaw_degrees_local": 123.28491573981097,
+      "yaw_radians": 2.1527526457381008,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.142886488029787,
+        8.36670003727643,
+        0.7494532761673377
+      ],
+      "z_min": 0.7409964042547432,
+      "z_max": 0.7492696069749973
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.4856262545967946,
+        8.428647889555037,
+        0.7474218726043048
+      ],
+      "rotation_wxyz": [
+        0.903276948371564,
+        -0.00048524719075704987,
+        -0.0001603589102691331,
+        -0.429057680691931
+      ],
+      "yaw_degrees_local": -50.87426362349032,
+      "yaw_radians": -0.8868984537272149,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4856262545967946,
+        8.428647889555037,
+        0.7540346768877926
+      ],
+      "z_min": 0.7407634493381485,
+      "z_max": 0.753989057905124
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.007380835116221,
+        8.888095520883438,
+        0.7461351938607892
+      ],
+      "rotation_wxyz": [
+        0.9868455467829765,
+        -0.000490203550934478,
+        0.00014450015533396947,
+        0.16166510326842973
+      ],
+      "yaw_degrees_local": 18.548408021346916,
+      "yaw_radians": 0.32475527682178496,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.007380835116221,
+        8.888095520883438,
+        0.7517840450740713
+      ],
+      "z_min": 0.7404847575910023,
+      "z_max": 0.7517824600175665
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.4747061468676588,
+        8.892609205621868,
+        0.7469526916983762
+      ],
+      "rotation_wxyz": [
+        0.8770912766242895,
+        -0.00047521573411349707,
+        -0.000188015484179582,
+        -0.48032346527080894
+      ],
+      "yaw_degrees_local": -57.47177895377081,
+      "yaw_radians": -1.0020468228645851,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4747061468676588,
+        8.892609205621868,
+        0.753565495981864
+      ],
+      "z_min": 0.7402942684322199,
+      "z_max": 0.7535198769991954
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.068415718655924,
+        8.68434822471031,
+        0.7459708824302391
+      ],
+      "rotation_wxyz": [
+        0.718858150871088,
+        -0.0004085829870847182,
+        -0.0003069849489881248,
+        -0.6951565994410066
+      ],
+      "yaw_degrees_local": -88.13811983910603,
+      "yaw_radians": -1.5372756165215207,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.068415718655924,
+        8.68434822471031,
+        0.7512718730613526
+      ],
+      "z_min": 0.7406836712769714,
+      "z_max": 0.7512856525391984
+    }
+  ],
+  "variant_index": 69
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0070/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0070/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..619ec4d39d5549e0948dfde5ae4de8d85b5c99cb
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0070/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7965839837589522879
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.693965261, -0.000306307939, 0.000409090775, 0.720008303)
+            double3 xformOp:translate = (1.78083256943, 8.45010979659, 0.740957677773)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.76402161, -0.000346574383, 0.000375587557, 0.645190451)
+            double3 xformOp:translate = (3.50000943611, 8.29968282275, 0.74089242102)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.328606883, -0.00022647427, -0.000458136684, -0.944466651)
+            double3 xformOp:translate = (3.51659086121, 8.68531903204, 0.754830064028)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.722542361, 0, 0, -0.691326649)
+            double3 xformOp:translate = (4.79522062225, 8.64271046423, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.792412596, -0.000440487969, -0.000259133489, -0.609985259)
+            double3 xformOp:translate = (1.87565756525, 8.6123131212, 0.754880292979)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.339090783, 0, 0, 0.940753656)
+            double3 xformOp:translate = (4.89894518389, 8.11198144624, 0.932716584791)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.835118782, -0.000388654863, 0.000331854205, 0.550069413)
+            double3 xformOp:translate = (3.3342012768, 8.23652632323, 0.789843080487)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0134906257, -7.01860819e-05, -0.000506215103, -0.999908867)
+            double3 xformOp:translate = (2.33792917687, 8.19421087748, 0.817296200192)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.46824887, -0.000293432791, -0.000418422052, -0.883596477)
+            double3 xformOp:translate = (3.20663980464, 8.48433121375, 0.781305867572)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.58635131, -0.000348665638, -0.000373647011, -0.810056714)
+            double3 xformOp:translate = (3.05605329608, 8.20232257038, 0.793725371066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.923474582, -0.000492613719, -0.00013605712, -0.383659269)
+            double3 xformOp:translate = (3.72708441367, 8.53636358386, 0.787213862319)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.729796813, -0.00041340209, -0.000300463856, -0.683663916)
+            double3 xformOp:translate = (3.63454949981, 8.34378353701, 0.787042674871)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.859080445, 0, 0, 0.51184059)
+            double3 xformOp:translate = (4.95355121571, 8.20183320274, 0.980874519698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99582281, -0.000499213392, 0.000109388326, 0.091305369)
+            double3 xformOp:translate = (3.46132679751, 8.43886466096, 0.74075616245)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.885105444, -0.000478333819, -0.000179934915, -0.465390258)
+            double3 xformOp:translate = (2.00234823208, 8.51362747739, 0.805113696109)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.696605926, -0.000307808893, 0.000407962623, 0.717453778)
+            double3 xformOp:translate = (3.74503509395, 8.40655384141, 0.818712829453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0813363601, -0.000104387603, -0.000500282965, -0.996686578)
+            double3 xformOp:translate = (3.02809443939, 8.88120460993, 0.745444633818)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.242854215, -6.17012503e-05, 0.000507319201, 0.970062663)
+            double3 xformOp:translate = (1.74642539053, 8.88655616894, 0.743558804351)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964472446, -0.000472363232, 0.000195071252, 0.264182967)
+            double3 xformOp:translate = (3.70069406566, 8.78591984396, 0.787953667781)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.741534393, -0.000418546731, -0.000293254923, -0.670914662)
+            double3 xformOp:translate = (1.70051312531, 8.68831842247, 0.752304989551)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0397829372, 4.31258214e-05, 0.0005092347, 0.999208215)
+            double3 xformOp:translate = (1.95619747764, 8.23283221986, 0.746519294301)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0783304118, -0.00010287849, -0.000500595478, -0.996927322)
+            double3 xformOp:translate = (2.37677346949, 8.87040533301, 0.813228150952)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869996424, -0.000409953591, 0.000305152208, 0.493057767)
+            double3 xformOp:translate = (2.55893608377, 8.29673647079, 0.7759807686)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.714271059, -0.000406555331, -0.000309665269, -0.699868983)
+            double3 xformOp:translate = (2.76645981313, 8.27865708367, 0.857846331188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.775798389, -0.000353446774, 0.000369127612, 0.630980664)
+            double3 xformOp:translate = (3.39103400069, 8.37168517258, 0.746086354638)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.244045055, 0, 0, 0.969763894)
+            double3 xformOp:translate = (4.92433890107, 8.78064262622, 0.956855579621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.47256856, -0.000183816618, 0.000476855604, 0.881293762)
+            double3 xformOp:translate = (2.04859356312, 8.35751130429, 0.748713861268)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979074935, -0.000483612723, 0.000165222729, 0.203499413)
+            double3 xformOp:translate = (2.29363645202, 8.29645328295, 0.818583340106)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0208163941, -7.38931339e-05, -0.000505687276, -0.999783185)
+            double3 xformOp:translate = (3.36689587766, 8.8960025054, 0.740304483042)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996411312, -0.000499933971, 0.000106046408, 0.0846418053)
+            double3 xformOp:translate = (1.98550758505, 8.18024374044, 0.767804698524)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0070/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0070/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f828a25833360fde26f5bf6428c1a49a640e56
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0070/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7965839837589522879,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 7,
+    "small object": 3,
+    "office_supply": 2,
+    "electronics accessory": 1,
+    "clock": 4,
+    "decorative_object": 1,
+    "small prop": 1,
+    "paper goods": 1,
+    "writing_instrument": 1,
+    "small electronic device": 1,
+    "book": 1
+  },
+  "failed_sampling_attempt_count": 207,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.7808325694274605,
+        8.450109796586206,
+        0.740957677773346
+      ],
+      "rotation_wxyz": [
+        0.6939652606072982,
+        -0.0003063079393155333,
+        0.0004090907754430356,
+        0.7200083026538157
+      ],
+      "yaw_degrees_local": 92.05163695556081,
+      "yaw_radians": 1.6076289195559994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7808325694274605,
+        8.450109796586206,
+        0.918457672408928
+      ],
+      "z_min": 0.740957677773346,
+      "z_max": 1.09595766704451
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.500009436114981,
+        8.299682822752137,
+        0.7408924210204145
+      ],
+      "rotation_wxyz": [
+        0.7640216099123709,
+        -0.0003465743834449895,
+        0.0003755875570090655,
+        0.645190451267758
+      ],
+      "yaw_degrees_local": 80.30121492247179,
+      "yaw_radians": 1.4025452609306748,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.500009436114981,
+        8.299682822752137,
+        0.7633894327341976
+      ],
+      "z_min": 0.740892424015349,
+      "z_max": 0.7858864474429151
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.5165908612077796,
+        8.685319032040885,
+        0.7548300640283205
+      ],
+      "rotation_wxyz": [
+        0.3286068832868143,
+        -0.00022647426966425818,
+        -0.00045813668421155004,
+        -0.9444666511194083
+      ],
+      "yaw_degrees_local": -141.69022365674294,
+      "yaw_radians": -2.471936491717752,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5165908612077796,
+        8.685319032040885,
+        0.7689655469343625
+      ],
+      "z_min": 0.7404992059638569,
+      "z_max": 0.7687701717759408
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.795220622253774,
+        8.642710464229367,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.7225423612739947,
+        0.0,
+        0.0,
+        -0.6913266493956387
+      ],
+      "yaw_degrees_local": -177.4704332412517,
+      "yaw_radians": -1.526647058205738,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.795220622253774,
+        8.642710464229367,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        1.8756575652513923,
+        8.61231312120399,
+        0.754880292979179
+      ],
+      "rotation_wxyz": [
+        0.7924125959578118,
+        -0.00044048796913943714,
+        -0.0002591334893133785,
+        -0.6099852593199165
+      ],
+      "yaw_degrees_local": -75.23559618943186,
+      "yaw_radians": -1.312083997023209,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8756575652513923,
+        8.61231312120399,
+        0.7689722182707732
+      ],
+      "z_min": 0.7407811588738491,
+      "z_max": 0.7689650094570376
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        4.898945183885034,
+        8.11198144623974,
+        0.9327165847908144
+      ],
+      "rotation_wxyz": [
+        -0.3390907832311802,
+        0.0,
+        0.0,
+        0.9407536557078398
+      ],
+      "yaw_degrees_local": 129.64297871964038,
+      "yaw_radians": -2.4496921496340223,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.898945183885034,
+        8.11198144623974,
+        0.9452852510498438
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9453373614143905
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.3342012768048646,
+        8.236526323226103,
+        0.7898430804866705
+      ],
+      "rotation_wxyz": [
+        0.8351187818054598,
+        -0.0003886548632447555,
+        0.0003318542052114347,
+        0.5500694129798064
+      ],
+      "yaw_degrees_local": 66.68484967656639,
+      "yaw_radians": 1.1648947387226054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3342012768048646,
+        8.236526323226103,
+        0.8387105449926197
+      ],
+      "z_min": 0.7409775129743523,
+      "z_max": 0.8387124419862507
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.337929176871391,
+        8.1942108774808,
+        0.817296200191577
+      ],
+      "rotation_wxyz": [
+        0.013490625747068385,
+        -7.018608189835914e-05,
+        -0.0005062151026471547,
+        -0.9999088667659352
+      ],
+      "yaw_degrees_local": -178.51275148504752,
+      "yaw_radians": -3.1146106579002564,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.337929176871391,
+        8.1942108774808,
+        0.8934821387136631
+      ],
+      "z_min": 0.7411466737043747,
+      "z_max": 0.893518550748547
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.20663980463537,
+        8.484331213754718,
+        0.7813058675720255
+      ],
+      "rotation_wxyz": [
+        0.4682488699494875,
+        -0.0002934327906545615,
+        -0.000418422052010872,
+        -0.8835964772514724
+      ],
+      "yaw_degrees_local": -124.21732886764626,
+      "yaw_radians": -2.1669768981537425,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.20663980463537,
+        8.484331213754718,
+        0.821855876711557
+      ],
+      "z_min": 0.7407423391254605,
+      "z_max": 0.8218423574045235
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.0560532960751465,
+        8.202322570375628,
+        0.7937253710656451
+      ],
+      "rotation_wxyz": [
+        0.5863513097333998,
+        -0.0003486656383765056,
+        -0.0003736470110355715,
+        -0.8100567143071593
+      ],
+      "yaw_degrees_local": -108.26167694805034,
+      "yaw_radians": -1.888498124887412,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0560532960751465,
+        8.202322570375628,
+        0.8462743999248632
+      ],
+      "z_min": 0.7410474471733025,
+      "z_max": 0.8461455048917388
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.72708441366851,
+        8.536363583860357,
+        0.7872138623191643
+      ],
+      "rotation_wxyz": [
+        0.9234745824773039,
+        -0.00049261371919929,
+        -0.0001360571199789108,
+        -0.3836592685424834
+      ],
+      "yaw_degrees_local": -45.17977904555772,
+      "yaw_radians": -0.7875109561245806,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.72708441366851,
+        8.536363583860357,
+        0.8337954655850823
+      ],
+      "z_min": 0.7406236284544643,
+      "z_max": 0.8337868349863002
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.634549499810245,
+        8.343783537013618,
+        0.7870426748706179
+      ],
+      "rotation_wxyz": [
+        0.7297968132436391,
+        -0.0004134020895770056,
+        -0.0003004638556859677,
+        -0.6836639161164008
+      ],
+      "yaw_degrees_local": -86.31996865171143,
+      "yaw_radians": -1.505542876419001,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.634549499810245,
+        8.343783537013618,
+        0.8332352747767003
+      ],
+      "z_min": 0.740830673414387,
+      "z_max": 0.8332158732265519
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        4.953551215707249,
+        8.201833202739655,
+        0.9808745196984141
+      ],
+      "rotation_wxyz": [
+        0.8590804448315169,
+        0.0,
+        0.0,
+        0.51184058974263
+      ],
+      "yaw_degrees_local": -28.42698309415968,
+      "yaw_radians": 1.0746518753930454,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.953551215707249,
+        8.201833202739655,
+        1.0415013861536737
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.041453761806851
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.4613267975134208,
+        8.438864660963338,
+        0.7407561624501819
+      ],
+      "rotation_wxyz": [
+        0.9958228097432043,
+        -0.0004992133916403424,
+        0.0001093883259185307,
+        0.09130536903892289
+      ],
+      "yaw_degrees_local": 10.41870786817455,
+      "yaw_radians": 0.18286529568611884,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4613267975134208,
+        8.438864660963338,
+        0.7907562563274975
+      ],
+      "z_min": 0.7407561624501819,
+      "z_max": 0.840756350204813
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.00234823207608,
+        8.51362747738955,
+        0.8051136961090881
+      ],
+      "rotation_wxyz": [
+        0.8851054437199999,
+        -0.00047833381932965523,
+        -0.0001799349146936673,
+        -0.46539025808175866
+      ],
+      "yaw_degrees_local": -55.52968189616524,
+      "yaw_radians": -0.9681508321558916,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.00234823207608,
+        8.51362747738955,
+        0.8693026501968086
+      ],
+      "z_min": 0.7408652233758217,
+      "z_max": 0.8692431315512626
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.745035093947853,
+        8.406553841406922,
+        0.8187128294528583
+      ],
+      "rotation_wxyz": [
+        0.6966059256936595,
+        -0.0003078088932617422,
+        0.00040796262263753284,
+        0.7174537776809484
+      ],
+      "yaw_degrees_local": 91.6306205087813,
+      "yaw_radians": 1.6002807927050313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.745035093947853,
+        8.406553841406922,
+        0.8967063539233565
+      ],
+      "z_min": 0.7407530276870985,
+      "z_max": 0.896740076628095
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        3.028094439386057,
+        8.8812046099258,
+        0.7454446338175899
+      ],
+      "rotation_wxyz": [
+        0.08133636006777926,
+        -0.0001043876026086489,
+        -0.0005002829645929705,
+        -0.9966865782938529
+      ],
+      "yaw_degrees_local": -170.72794143234577,
+      "yaw_radians": -2.978740154902419,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.028094439386057,
+        8.8812046099258,
+        0.7505742365136678
+      ],
+      "z_min": 0.7403624207205248,
+      "z_max": 0.7506216261126807
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        1.746425390530469,
+        8.886556168935563,
+        0.7435588043514402
+      ],
+      "rotation_wxyz": [
+        0.242854214690999,
+        -6.170125025236482e-05,
+        0.00050731920125066,
+        0.9700626625259846
+      ],
+      "yaw_degrees_local": 151.83116609241836,
+      "yaw_radians": 2.650978620268322,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.746425390530469,
+        8.886556168935563,
+        0.7466708075953158
+      ],
+      "z_min": 0.7405193808345996,
+      "z_max": 0.7467433873223507
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.7006940656612524,
+        8.785919843957178,
+        0.7879536677812801
+      ],
+      "rotation_wxyz": [
+        0.9644724458272095,
+        -0.00047236323204587503,
+        0.00019507125172994456,
+        0.26418296701389465
+      ],
+      "yaw_degrees_local": 30.578114130898626,
+      "yaw_radians": 0.5347132078783673,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7006940656612524,
+        8.785919843957178,
+        0.8353525932093805
+      ],
+      "z_min": 0.7403738646689804,
+      "z_max": 0.8351717155251813
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        1.7005131253111656,
+        8.688318422465555,
+        0.7523049895513256
+      ],
+      "rotation_wxyz": [
+        0.7415343926758216,
+        -0.0004185467311968396,
+        -0.00029325492330863447,
+        -0.6709146617112227
+      ],
+      "yaw_degrees_local": -84.33412023152974,
+      "yaw_radians": -1.470883266467348,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7005131253111656,
+        8.688318422465555,
+        0.7638177439747761
+      ],
+      "z_min": 0.7407262615318745,
+      "z_max": 0.7637517703787753
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.9561974776436926,
+        8.232832219857901,
+        0.7465192943012015
+      ],
+      "rotation_wxyz": [
+        0.03978293722000471,
+        4.312582139547549e-05,
+        0.0005092347000836433,
+        0.9992082149013454
+      ],
+      "yaw_degrees_local": 175.3812968101018,
+      "yaw_radians": 3.0620057425606158,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9561974776436926,
+        8.232832219857901,
+        0.7518547349962023
+      ],
+      "z_min": 0.7411558315543914,
+      "z_max": 0.751826712944393
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.3767734694882794,
+        8.870405333013776,
+        0.8132281509517195
+      ],
+      "rotation_wxyz": [
+        0.07833041177832595,
+        -0.00010287848951403292,
+        -0.0005005954780415256,
+        -0.9969273220304588
+      ],
+      "yaw_degrees_local": -171.07350086063104,
+      "yaw_radians": -2.9847713020319726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3767734694882794,
+        8.870405333013776,
+        0.8860905955584633
+      ],
+      "z_min": 0.7404559321498431,
+      "z_max": 0.8861808213633304
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.558936083770136,
+        8.296736470789828,
+        0.775980768600274
+      ],
+      "rotation_wxyz": [
+        0.8699964235389355,
+        -0.0004099535906356153,
+        0.00030515220753794163,
+        0.49305776725414774
+      ],
+      "yaw_degrees_local": 59.024815386497636,
+      "yaw_radians": 1.0312018661537394,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.558936083770136,
+        8.296736470789828,
+        0.8110938429434593
+      ],
+      "z_min": 0.7410146656133431,
+      "z_max": 0.8112408142997138
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.7664598131259743,
+        8.27865708367313,
+        0.8578463311881677
+      ],
+      "rotation_wxyz": [
+        0.7142710586052189,
+        -0.0004065553314776527,
+        -0.000309665268778093,
+        -0.6998689832098319
+      ],
+      "yaw_degrees_local": -88.89171198287498,
+      "yaw_radians": -1.5504282872058408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7664598131259743,
+        8.27865708367313,
+        0.9747051498641401
+      ],
+      "z_min": 0.7410067515879031,
+      "z_max": 0.9747243889398479
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.391034000692333,
+        8.371685172581456,
+        0.7460863546381878
+      ],
+      "rotation_wxyz": [
+        0.7757983892915782,
+        -0.00035344677394756336,
+        0.00036912761238679055,
+        0.6309806637233639
+      ],
+      "yaw_degrees_local": 78.18632423555692,
+      "yaw_radians": 1.365633435997433,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.391034000692333,
+        8.371685172581456,
+        0.7513222699563213
+      ],
+      "z_min": 0.7408332069691067,
+      "z_max": 0.7513050376053737
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        4.924338901074235,
+        8.780642626215467,
+        0.9568555796206165
+      ],
+      "rotation_wxyz": [
+        -0.24404505520721692,
+        0.0,
+        0.0,
+        0.9697638944758187
+      ],
+      "yaw_degrees_local": 118.25081298508462,
+      "yaw_radians": -2.648522950634899,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.924338901074235,
+        8.780642626215467,
+        0.9934657926897952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9934204550346891
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        2.0485935631172953,
+        8.357511304292297,
+        0.7487138612683034
+      ],
+      "rotation_wxyz": [
+        0.4725685603813483,
+        -0.00018381661845141872,
+        0.00047685560395301866,
+        0.8812937617839377
+      ],
+      "yaw_degrees_local": 123.53896768086929,
+      "yaw_radians": 2.157186688935682,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0485935631172953,
+        8.357511304292297,
+        0.756568767612104
+      ],
+      "z_min": 0.7410176725460831,
+      "z_max": 0.7567274852336843
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.2936364520180175,
+        8.29645328294627,
+        0.8185833401061561
+      ],
+      "rotation_wxyz": [
+        0.9790749346542701,
+        -0.0004836127232596007,
+        0.00016522272888965797,
+        0.2034994131488361
+      ],
+      "yaw_degrees_local": 23.424633111689786,
+      "yaw_radians": 0.4098614351007225,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2936364520180175,
+        8.29645328294627,
+        0.8962901739395885
+      ],
+      "z_min": 0.7410485888283103,
+      "z_max": 0.8964622564951752
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.366895877662107,
+        8.896002505402532,
+        0.7403044830422023
+      ],
+      "rotation_wxyz": [
+        0.020816394119826425,
+        -7.389313390935766e-05,
+        -0.0005056872758942688,
+        -0.9997831847735948
+      ],
+      "yaw_degrees_local": -177.67315474532998,
+      "yaw_radians": -3.099956937675622,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.366895877662107,
+        8.896002505402532,
+        0.8903044890026668
+      ],
+      "z_min": 0.7403044830422023,
+      "z_max": 1.0403044949631313
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.9855075850526678,
+        8.180243740441776,
+        0.7678046985243068
+      ],
+      "rotation_wxyz": [
+        0.9964113124654139,
+        -0.0004999339711441501,
+        0.00010604640840854913,
+        0.08464180533953311
+      ],
+      "yaw_degrees_local": 9.652146050015489,
+      "yaw_radians": 0.16948627380339562,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9855075850526678,
+        8.180243740441776,
+        0.7943791831803808
+      ],
+      "z_min": 0.741205465951641,
+      "z_max": 0.794354435263789
+    }
+  ],
+  "variant_index": 70
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0072/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0072/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..c7bf3685e1f5535597f702de76fb20f783211a1c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0072/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3779765210216394648
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.292577108, -8.7792082e-05, 0.000503460392, 0.956241797)
+            double3 xformOp:translate = (2.28811799966, 8.30592353137, 0.741039642491)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991439594, -0.000511046214, -3.40345499e-06, -0.130565192)
+            double3 xformOp:translate = (1.92480264417, 8.28062576958, 0.741111332757)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999909351, -0.000506217627, 7.01678755e-05, 0.0134546634)
+            double3 xformOp:translate = (1.82803655669, 8.77549281892, 0.788044757389)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.944078548, -0.000499645252, -0.000107398504, -0.329720237)
+            double3 xformOp:translate = (3.47002636183, 8.44154557111, 0.792509710035)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993761842, -0.000496887512, 0.0001195099, 0.111521924)
+            double3 xformOp:translate = (3.64531072809, 8.26541866455, 0.751928818708)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869928118, -0.000409911318, 0.000305208991, 0.493178273)
+            double3 xformOp:translate = (2.03521437883, 8.77289527648, 0.816747634158)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698815935, -0.000399695441, -0.000318470361, -0.715301354)
+            double3 xformOp:translate = (2.98398877543, 8.32820636877, 0.75194892763)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99742227, -0.000510354367, 2.67999331e-05, -0.0717534314)
+            double3 xformOp:translate = (3.66220113745, 8.52164661983, 0.775253558847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.66493047, -0.000289880008, 0.000420891194, 0.746905087)
+            double3 xformOp:translate = (1.70619486307, 8.67368214871, 0.749559888786)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0856005534, 1.9708603e-05, 0.000510677381, 0.996329405)
+            double3 xformOp:translate = (3.01133426869, 8.87713598384, 0.743489599057)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0569737603, 3.43553306e-05, 0.000509901488, 0.998375545)
+            double3 xformOp:translate = (3.43992342495, 8.26315916232, 0.794847142592)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.369915245, -0.000246446719, -0.000447709539, -0.929065364)
+            double3 xformOp:translate = (3.57155637221, 8.6961462583, 0.857320893597)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.923716626, -0.000444163358, 0.000252781977, 0.383076147)
+            double3 xformOp:translate = (3.6983463778, 8.81331861136, 0.787769422904)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999977858, -0.000507525054, 5.99844598e-05, -0.00663493441)
+            double3 xformOp:translate = (2.05887018903, 8.90373579965, 0.744832029634)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.284404325, -8.3491533e-05, 0.000504191412, 0.958704292)
+            double3 xformOp:translate = (3.39054045705, 8.3660243142, 0.882473945406)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.803741101, -0.000445282179, -0.000250805896, -0.594978975)
+            double3 xformOp:translate = (1.96536170196, 8.49885248109, 0.870836092323)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.470590032, -0.000294541183, -0.00041764256, -0.882351835)
+            double3 xformOp:translate = (3.32221069261, 8.83432647441, 0.74037269852)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99818092, 0, 0, 0.0602897238)
+            double3 xformOp:translate = (4.96282101924, 8.78602095883, 1.00658728594)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.795132145, -0.000364806148, 0.000357905421, 0.606435991)
+            double3 xformOp:translate = (2.60828341775, 8.29244025949, 0.775082412952)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99963138, -0.000508648665, 4.95616007e-05, -0.027144858)
+            double3 xformOp:translate = (3.20034716984, 8.84853855059, 0.786963982622)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.691321485, -0.000304806403, 0.000410210767, 0.722547122)
+            double3 xformOp:translate = (1.88808588089, 8.57142727089, 0.796980994078)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.262491758, -0.000194242859, -0.000472704483, -0.964934099)
+            double3 xformOp:translate = (3.22624877435, 8.33800347374, 0.746578047462)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.577414052, -0.000241093245, 0.000450614984, 0.816451316)
+            double3 xformOp:translate = (2.23106858456, 8.21124003486, 0.767742148231)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.926421104, -0.000445952165, 0.000249612665, 0.376488615)
+            double3 xformOp:translate = (2.22991744066, 8.32407435363, 0.746315821334)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.924692665, -0.000444807961, 0.00025164597, 0.380714085)
+            double3 xformOp:translate = (2.73507013886, 8.31060976178, 0.793656211637)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.643917402, -0.000278071615, 0.00042878432, 0.765094842)
+            double3 xformOp:translate = (2.3459190013, 8.85653591949, 0.745727020651)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.223324639, -5.15009264e-05, 0.000508455967, 0.974743989)
+            double3 xformOp:translate = (3.40124028367, 8.622416888, 0.779923595415)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.000833260911, 0, 0, 0.999999653)
+            double3 xformOp:translate = (4.81408582345, 8.09297515767, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.838215178, -0.000390524745, 0.000329651695, 0.545339393)
+            double3 xformOp:translate = (3.71900683169, 8.44497921447, 0.818677155013)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.536044409, -0.000218356801, 0.000462060736, 0.844189629)
+            double3 xformOp:translate = (1.70606420311, 8.37175568203, 0.793724571683)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0072/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0072/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..60270598eea51d380f4b0a1959a0aaff9a7511b4
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0072/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3779765210216394648,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "electronics": 7,
+    "small object": 5,
+    "clock": 3,
+    "office_supply": 1,
+    "electronics accessory": 1,
+    "small_electronics": 1,
+    "small prop": 2,
+    "office_supplies": 2,
+    "writing_instrument": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 182,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.2881179996551153,
+        8.305923531368686,
+        0.7410396424906845
+      ],
+      "rotation_wxyz": [
+        0.2925771076597668,
+        -8.779208199350385e-05,
+        0.0005034603922649313,
+        0.9562417972948208
+      ],
+      "yaw_degrees_local": 145.91667128385177,
+      "yaw_radians": 2.5477512483578133,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2881179996551153,
+        8.305923531368686,
+        0.7910397363680001
+      ],
+      "z_min": 0.7410396424906845,
+      "z_max": 0.8410398302453156
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.924802644173651,
+        8.280625769582526,
+        0.7411113327573077
+      ],
+      "rotation_wxyz": [
+        0.9914395944293484,
+        -0.0005110462138930991,
+        -3.4034549859536246e-06,
+        -0.13056519221428528
+      ],
+      "yaw_degrees_local": -15.063220035221718,
+      "yaw_radians": -0.26187802447339953,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.924802644173651,
+        8.280625769582526,
+        0.9186113273928896
+      ],
+      "z_min": 0.7411113327573077,
+      "z_max": 1.0961113220284715
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.8280365566940449,
+        8.775492818922519,
+        0.7880447573893739
+      ],
+      "rotation_wxyz": [
+        0.9999093513180514,
+        -0.0005062176266062314,
+        7.016787550914358e-05,
+        0.013454663388497046
+      ],
+      "yaw_degrees_local": 1.4831271576238692,
+      "yaw_radians": 0.02691006447036968,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8280365566940449,
+        8.775492818922519,
+        0.8354972831283543
+      ],
+      "z_min": 0.7406217078159453,
+      "z_max": 0.8355267592939062
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20339494477758824,
+        0.1107086488517261,
+        0.10351778344946472
+      ],
+      "bbox_min_m": [
+        -0.10167640403053668,
+        -0.055279065976485874,
+        -0.05175734185909191
+      ],
+      "bbox_max_m": [
+        0.1017185407470516,
+        0.05542958287524019,
+        0.051760441590372776
+      ],
+      "translation_world": [
+        3.4700263618274834,
+        8.441545571109298,
+        0.7925097100353536
+      ],
+      "rotation_wxyz": [
+        0.9440785478085651,
+        -0.0004996452517789786,
+        -0.00010739850378396206,
+        -0.32972023654585564
+      ],
+      "yaw_degrees_local": -38.56230739359552,
+      "yaw_radians": -0.6720143088366187,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4700263618274834,
+        8.441545571109298,
+        0.844268601760086
+      ],
+      "z_min": 0.7407523681762618,
+      "z_max": 0.8442701516257264
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        3.6453107280877033,
+        8.26541866454765,
+        0.7519288187080767
+      ],
+      "rotation_wxyz": [
+        0.9937618423381981,
+        -0.0004968875124361791,
+        0.0001195099001141684,
+        0.11152192400050431
+      ],
+      "yaw_degrees_local": 12.747401771758689,
+      "yaw_radians": 0.22350865474177586,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6453107280877033,
+        8.26541866454765,
+        0.762808238911213
+      ],
+      "z_min": 0.7409087717470721,
+      "z_max": 0.7626676121533447
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.035214378831772,
+        8.772895276476625,
+        0.8167476341576478
+      ],
+      "rotation_wxyz": [
+        0.8699281176726301,
+        -0.0004099113175400233,
+        0.0003052089906816553,
+        0.49317827294269406
+      ],
+      "yaw_degrees_local": 59.04068841360069,
+      "yaw_radians": 1.0314789028365714,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.035214378831772,
+        8.772895276476625,
+        0.892933572679734
+      ],
+      "z_min": 0.7405981076704455,
+      "z_max": 0.8929699847146179
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        2.9839887754291348,
+        8.328206368767333,
+        0.7519489276304713
+      ],
+      "rotation_wxyz": [
+        0.6988159350961133,
+        -0.00039969544084850065,
+        -0.0003184703609525309,
+        -0.715301354448549
+      ],
+      "yaw_degrees_local": -91.39452912967798,
+      "yaw_radians": -1.5941107091190214,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9839887754291348,
+        8.328206368767333,
+        0.7628283478336075
+      ],
+      "z_min": 0.7409288806694667,
+      "z_max": 0.7626877210757392
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.6622011374497765,
+        8.5216466198298,
+        0.7752535588474431
+      ],
+      "rotation_wxyz": [
+        0.9974222696039124,
+        -0.0005103543669141029,
+        2.6799933059950266e-05,
+        -0.07175343140480604
+      ],
+      "yaw_degrees_local": -8.288120988902449,
+      "yaw_radians": -0.14363029983298461,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6622011374497765,
+        8.5216466198298,
+        0.8098532858302784
+      ],
+      "z_min": 0.7406467693970598,
+      "z_max": 0.8098462233627303
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        1.7061948630678108,
+        8.673682148712496,
+        0.7495598887855789
+      ],
+      "rotation_wxyz": [
+        0.6649304699336723,
+        -0.00028988000776829,
+        0.0004208911941779832,
+        0.7469050869916268
+      ],
+      "yaw_degrees_local": 96.58729334282151,
+      "yaw_radians": 1.68679109527762,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7061948630678108,
+        8.673682148712496,
+        0.7583620119089729
+      ],
+      "z_min": 0.740740384787824,
+      "z_max": 0.7583446310346121
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.011334268685273,
+        8.877135983844457,
+        0.7434895990573899
+      ],
+      "rotation_wxyz": [
+        0.08560055343361725,
+        1.970860298990764e-05,
+        0.000510677380748843,
+        0.996329405403676
+      ],
+      "yaw_degrees_local": 170.1201684600121,
+      "yaw_radians": 2.9701817783791724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.011334268685273,
+        8.877135983844457,
+        0.7465021155425493
+      ],
+      "z_min": 0.7403686697599244,
+      "z_max": 0.7463937027302432
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.4399234249521,
+        8.26315916231746,
+        0.7948471425922012
+      ],
+      "rotation_wxyz": [
+        0.056973760344771404,
+        3.435533061605278e-05,
+        0.0005099014880333007,
+        0.9983755452996436
+      ],
+      "yaw_degrees_local": 173.40903949261622,
+      "yaw_radians": 3.0275833766241074,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4399234249521,
+        8.26315916231746,
+        0.8487673448855995
+      ],
+      "z_min": 0.740937108612375,
+      "z_max": 0.8487775131991714
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.571556372207685,
+        8.696146258297771,
+        0.8573208935974781
+      ],
+      "rotation_wxyz": [
+        0.3699152446882896,
+        -0.00024644671894436773,
+        -0.00044770953860942965,
+        -0.9290653639908156
+      ],
+      "yaw_degrees_local": -136.63792386104615,
+      "yaw_radians": -2.3837572206520736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.571556372207685,
+        8.696146258297771,
+        0.9741797122734506
+      ],
+      "z_min": 0.7404813139972135,
+      "z_max": 0.9741989513491583
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.698346377801047,
+        8.813318611355603,
+        0.7877694229036936
+      ],
+      "rotation_wxyz": [
+        0.9237166257746914,
+        -0.0004441633578236121,
+        0.00025278197682423195,
+        0.3830761465917747
+      ],
+      "yaw_degrees_local": 44.99000960455052,
+      "yaw_radians": 0.7862482351809804,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.698346377801047,
+        8.813318611355603,
+        0.835221948642674
+      ],
+      "z_min": 0.740346373330265,
+      "z_max": 0.8352514248082259
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        2.0588701890311127,
+        8.903735799650468,
+        0.744832029634009
+      ],
+      "rotation_wxyz": [
+        0.9999778579876482,
+        -0.0005075250543739555,
+        5.99844598460813e-05,
+        -0.006634934409545803
+      ],
+      "yaw_degrees_local": -0.8190235751123112,
+      "yaw_radians": -0.013270025427399128,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0588701890311127,
+        8.903735799650468,
+        0.7492560591025627
+      ],
+      "z_min": 0.7404623702891566,
+      "z_max": 0.749310429226264
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.39054045705381,
+        8.366024314195638,
+        0.8824739454058257
+      ],
+      "rotation_wxyz": [
+        0.2844043248112165,
+        -8.349153304727088e-05,
+        0.0005041914122133866,
+        0.9587042916608125
+      ],
+      "yaw_degrees_local": 146.89479411183362,
+      "yaw_radians": 2.5648227068074845,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.39054045705381,
+        8.366024314195638,
+        1.024034732601577
+      ],
+      "z_min": 0.7408390821667051,
+      "z_max": 1.023960656558208
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.9653617019558909,
+        8.498852481092284,
+        0.8708360923233809
+      ],
+      "rotation_wxyz": [
+        0.8037411013251072,
+        -0.0004452821787105108,
+        -0.00025080589618893187,
+        -0.5949789751418849
+      ],
+      "yaw_degrees_local": -73.08098809557099,
+      "yaw_radians": -1.274478978063431,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9653617019558909,
+        8.498852481092284,
+        1.00100324183815
+      ],
+      "z_min": 0.7408849292077446,
+      "z_max": 1.001219228237283
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.3222106926082042,
+        8.834326474410823,
+        0.7403726985204193
+      ],
+      "rotation_wxyz": [
+        0.4705900322314831,
+        -0.0002945411826282878,
+        -0.00041764256006331807,
+        -0.8823518348054566
+      ],
+      "yaw_degrees_local": -123.91349519728848,
+      "yaw_radians": -2.161673998590508,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3222106926082042,
+        8.834326474410823,
+        0.7903727923977348
+      ],
+      "z_min": 0.7403726985204193,
+      "z_max": 0.8403728862750504
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        4.962821019237918,
+        8.786020958828667,
+        1.0065872859386928
+      ],
+      "rotation_wxyz": [
+        0.998180920074867,
+        0.0,
+        0.0,
+        0.06028972382166137
+      ],
+      "yaw_degrees_local": -83.0871143482919,
+      "yaw_radians": 0.12065261543618026,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.962821019237918,
+        8.786020958828667,
+        1.0929865648969594
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0929985868128653
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.608283417748125,
+        8.292440259487476,
+        0.775082412951933
+      ],
+      "rotation_wxyz": [
+        0.7951321448944152,
+        -0.00036480614827951303,
+        0.0003579054210511187,
+        0.6064359908315065
+      ],
+      "yaw_degrees_local": 74.60579227105714,
+      "yaw_radians": 1.3031413324387873,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.608283417748125,
+        8.292440259487476,
+        0.8090809691226118
+      ],
+      "z_min": 0.7410127701383072,
+      "z_max": 0.8090098824796649
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.2003471698405743,
+        8.848538550590668,
+        0.7869639826218932
+      ],
+      "rotation_wxyz": [
+        0.999631379810587,
+        -0.00050864866457452,
+        4.956160072949695e-05,
+        -0.02714485804283786
+      ],
+      "yaw_degrees_local": -3.1696645556651504,
+      "yaw_radians": -0.05429642899577532,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2003471698405743,
+        8.848538550590668,
+        0.8335455858878111
+      ],
+      "z_min": 0.7403737487571931,
+      "z_max": 0.833536955289029
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.8880858808878451,
+        8.571427270887206,
+        0.7969809940781561
+      ],
+      "rotation_wxyz": [
+        0.6913214848623254,
+        -0.00030480640287006925,
+        0.0004102107665697253,
+        0.7225471219151963
+      ],
+      "yaw_degrees_local": 92.47166108771563,
+      "yaw_radians": 1.6149597272231493,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8880858808878451,
+        8.571427270887206,
+        0.8531632738880488
+      ],
+      "z_min": 0.740821073908192,
+      "z_max": 0.8531856335279773
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.226248774345233,
+        8.338003473742162,
+        0.7465780474620791
+      ],
+      "rotation_wxyz": [
+        0.2624917584180587,
+        -0.00019424285885072124,
+        -0.000472704482764667,
+        -0.9649340990880048
+      ],
+      "yaw_degrees_local": -149.62277476990096,
+      "yaw_radians": -2.6103856179967746,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.226248774345233,
+        8.338003473742162,
+        0.7524090984868653
+      ],
+      "z_min": 0.7408882467327544,
+      "z_max": 0.7525503487823269
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.2310685845639115,
+        8.211240034860975,
+        0.7677421482313587
+      ],
+      "rotation_wxyz": [
+        0.5774140522396203,
+        -0.00024109324451706014,
+        0.00045061498387043196,
+        0.8164513158152206
+      ],
+      "yaw_degrees_local": 109.40354772550324,
+      "yaw_radians": 1.9104770203359298,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2310685845639115,
+        8.211240034860975,
+        0.7943166328874327
+      ],
+      "z_min": 0.741142915658693,
+      "z_max": 0.7942918849708409
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.229917440655243,
+        8.324074353626077,
+        0.7463158213338342
+      ],
+      "rotation_wxyz": [
+        0.926421103720167,
+        -0.0004459521654358612,
+        0.00024961266470950323,
+        0.37648861523569543
+      ],
+      "yaw_degrees_local": 44.173992195454815,
+      "yaw_radians": 0.7720060428991223,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.229917440655243,
+        8.324074353626077,
+        0.7516168119649477
+      ],
+      "z_min": 0.7410286101805665,
+      "z_max": 0.7516305914427935
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.735070138860104,
+        8.310609761782224,
+        0.7936562116373767
+      ],
+      "rotation_wxyz": [
+        0.9246926648574936,
+        -0.000444807960713937,
+        0.0002516459702157404,
+        0.3807140848181625
+      ],
+      "yaw_degrees_local": 44.69713919409514,
+      "yaw_radians": 0.7811366815888452,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.735070138860104,
+        8.310609761782224,
+        0.8462052404965947
+      ],
+      "z_min": 0.740978287745034,
+      "z_max": 0.8460763454634703
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.345919001299388,
+        8.856535919486756,
+        0.7457270206508385
+      ],
+      "rotation_wxyz": [
+        0.6439174024202051,
+        -0.0002780716150561844,
+        0.0004287843200728752,
+        0.765094842278132
+      ],
+      "yaw_degrees_local": 99.77216804369965,
+      "yaw_radians": 1.742377670020664,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.345919001299388,
+        8.856535919486756,
+        0.750962935968972
+      ],
+      "z_min": 0.7404738729817574,
+      "z_max": 0.7509457036180244
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.401240283668647,
+        8.622416888003192,
+        0.7799235954146053
+      ],
+      "rotation_wxyz": [
+        0.22332463939545438,
+        -5.150092641877846e-05,
+        0.0005084559674330907,
+        0.9747439890858903
+      ],
+      "yaw_degrees_local": 154.13252521091755,
+      "yaw_radians": 2.691144898013044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.401240283668647,
+        8.622416888003192,
+        0.8192724547404812
+      ],
+      "z_min": 0.740577631456669,
+      "z_max": 0.8192753501084207
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.814085823447794,
+        8.092975157667151,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        0.0008332609114137246,
+        0.0,
+        0.0,
+        0.9999996528380666
+      ],
+      "yaw_degrees_local": 89.90451532203599,
+      "yaw_radians": 3.1399261315741147,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.814085823447794,
+        8.092975157667151,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.7190068316930613,
+        8.444979214473312,
+        0.8186771550130568
+      ],
+      "rotation_wxyz": [
+        0.8382151782369258,
+        -0.00039052474460555295,
+        0.00032965169511331243,
+        0.5453393932162087
+      ],
+      "yaw_degrees_local": 66.03701857021454,
+      "yaw_radians": 1.1535879479621456,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7190068316930613,
+        8.444979214473312,
+        0.896670679483555
+      ],
+      "z_min": 0.740717353247297,
+      "z_max": 0.8967044021882935
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        1.7060642031129052,
+        8.371755682033653,
+        0.7937245716825166
+      ],
+      "rotation_wxyz": [
+        0.5360444090849849,
+        -0.00021835680112644216,
+        0.0004620607358801871,
+        0.8441896293540413
+      ],
+      "yaw_degrees_local": 115.11174323758848,
+      "yaw_radians": 2.0101038532259827,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7060642031129052,
+        8.371755682033653,
+        0.8462736005417347
+      ],
+      "z_min": 0.741046647790174,
+      "z_max": 0.8461447055086103
+    }
+  ],
+  "variant_index": 72
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0073/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0073/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..251d894b6deb14a389d68a26cf48acb78e69fc34
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0073/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 196796974044029976
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.946915422, -0.000459829836, 0.000223016453, 0.321482384)
+            double3 xformOp:translate = (3.52311071817, 8.28991599883, 0.740899402884)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.66076432, -0.000382634621, -0.000338778044, -0.750593267)
+            double3 xformOp:translate = (3.08259703331, 8.89059227842, 0.740345991251)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.241582379, -0.000183984391, -0.000476790898, -0.97038018)
+            double3 xformOp:translate = (1.87980727812, 8.41709957164, 0.841198156514)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.564347032, -0.000338487634, -0.000382891548, -0.825537502)
+            double3 xformOp:translate = (3.25772218713, 8.40528850172, 0.841073071252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.111512214, -0.000119505045, -0.00049688868, -0.993762932)
+            double3 xformOp:translate = (3.58060275915, 8.6661375281, 0.749687472868)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.192787658, -3.5603587e-05, 0.00050981585, 0.981240367)
+            double3 xformOp:translate = (3.36570133322, 8.51697475863, 0.777344626401)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.169255645, -0.000148268763, -0.000489076875, -0.98557205)
+            double3 xformOp:translate = (1.81169288347, 8.60467229637, 0.746050155889)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.830205986, -0.00038569553, 0.000335289091, 0.557456509)
+            double3 xformOp:translate = (1.8732689924, 8.81969018217, 0.774822183282)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999487169, -0.000508884236, 4.70813242e-05, -0.0320177882)
+            double3 xformOp:translate = (2.82534957917, 8.249247432, 0.794939119512)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997869521, -0.000501902615, 9.62994375e-05, 0.0652392425)
+            double3 xformOp:translate = (3.67335495729, 8.88162202636, 0.779637333551)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.613437829, 0, 0, 0.789743015)
+            double3 xformOp:translate = (4.85103236913, 8.69868005153, 1.06183489214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993490242, -0.000511031401, 5.16947654e-06, -0.113916097)
+            double3 xformOp:translate = (1.72845961236, 8.83967381192, 0.779915189637)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.289468827, -0.000207432597, -0.000467066948, -0.957187305)
+            double3 xformOp:translate = (1.97671204002, 8.27202772886, 0.835987022049)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.746754785, -0.000336556867, 0.00038458977, 0.665099263)
+            double3 xformOp:translate = (1.74829739233, 8.23218140815, 0.813955086816)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.591966193, 0, 0, 0.805962795)
+            double3 xformOp:translate = (4.90976432656, 8.15584856284, 0.932710421032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900363186, -0.000429022252, 0.000277704382, 0.435138911)
+            double3 xformOp:translate = (2.25857158735, 8.35827507846, 0.882625226654)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.847091844, -0.000463241201, -0.000215841159, -0.531446278)
+            double3 xformOp:translate = (2.731406952, 8.86925033086, 0.78698905678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.903393172, -0.000430959561, 0.000274688319, 0.428812914)
+            double3 xformOp:translate = (3.71905065033, 8.45959308984, 0.870653716107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.114425195, 4.90759854e-06, 0.000511033983, 0.993431736)
+            double3 xformOp:translate = (3.72931022206, 8.28320441112, 0.789745677322)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.61142703, -0.000259935076, 0.000440015423, 0.791300655)
+            double3 xformOp:translate = (1.98397489165, 8.78354829053, 0.796753704869)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0219309329, 5.22137728e-05, 0.000508383259, 0.999759358)
+            double3 xformOp:translate = (2.12046237101, 8.31796108586, 0.771640692485)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.166799852, -2.21238234e-05, 0.000510578449, 0.985990643)
+            double3 xformOp:translate = (3.18571650042, 8.64451797289, 0.746272306079)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.426356684, -0.000273516328, -0.000431704337, -0.904554983)
+            double3 xformOp:translate = (3.42346608737, 8.81697769037, 0.786589490639)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.502329318, -0.000309516922, -0.000406668281, -0.864676237)
+            double3 xformOp:translate = (3.06176195409, 8.32475500635, 0.870873752444)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.662786242, -0.000288672055, 0.000421720596, 0.748808478)
+            double3 xformOp:translate = (2.5793755414, 8.30310209353, 0.745325874236)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952039106, -0.000502177964, -9.48530896e-05, -0.305975946)
+            double3 xformOp:translate = (2.17482539658, 8.87742850992, 0.826861660219)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.195875604, -0.000161455, -0.000484883593, -0.980628618)
+            double3 xformOp:translate = (1.78210894405, 8.35774634123, 0.78863102201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.816754134, -0.0003776367, 0.000344340441, 0.576985636)
+            double3 xformOp:translate = (2.68697713028, 8.24387322752, 0.741052040007)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.743158919, -0.000334478962, 0.000386398292, 0.669114758)
+            double3 xformOp:translate = (3.2124284058, 8.49136170705, 0.74609791951)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.957320711, -0.00046716257, 0.000207217156, 0.289027325)
+            double3 xformOp:translate = (1.81393362954, 8.46776328315, 0.746875834863)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0073/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0073/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e2b287400a1888295bbc1c4d90f4f37d5649be0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0073/placement.json
@@ -0,0 +1,1545 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 196796974044029976,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "electronics": 4,
+    "drinkware": 7,
+    "drinkware/container": 1,
+    "small object": 6,
+    "small electronic device": 1,
+    "writing_instrument": 1,
+    "small_electronics": 1,
+    "office_supply": 4,
+    "clock": 1,
+    "office_supplies": 1,
+    "decorative_object": 1,
+    "small prop": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 283,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.523110718171496,
+        8.289915998826775,
+        0.7408994028841269
+      ],
+      "rotation_wxyz": [
+        0.9469154216796387,
+        -0.0004598298357603219,
+        0.00022301645317094438,
+        0.32148238366270704
+      ],
+      "yaw_degrees_local": 37.44648841253118,
+      "yaw_radians": 0.6545889450723446,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.523110718171496,
+        8.289915998826775,
+        0.9183993975197089
+      ],
+      "z_min": 0.7408994028841269,
+      "z_max": 1.0958993921552909
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.082597033305276,
+        8.890592278423393,
+        0.7403459912506045
+      ],
+      "rotation_wxyz": [
+        0.6607643196237422,
+        -0.00038263462134003115,
+        -0.00033877804355105954,
+        -0.7505932671776087
+      ],
+      "yaw_degrees_local": -97.3423167885684,
+      "yaw_radians": -1.6979192408438344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.082597033305276,
+        8.890592278423393,
+        0.79034608512792
+      ],
+      "z_min": 0.7403459912506045,
+      "z_max": 0.8403461790052356
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        1.8798072781167376,
+        8.417099571640003,
+        0.8411981565140219
+      ],
+      "rotation_wxyz": [
+        0.24158237884872225,
+        -0.00018398439100022131,
+        -0.0004767908976779971,
+        -0.9703801796460892
+      ],
+      "yaw_degrees_local": -152.09880174578598,
+      "yaw_radians": -2.6536004343597965,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8798072781167376,
+        8.417099571640003,
+        0.9412868576060349
+      ],
+      "z_min": 0.7409786699498265,
+      "z_max": 0.9411560721338526
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.2577221871296262,
+        8.405288501717216,
+        0.841073071252058
+      ],
+      "rotation_wxyz": [
+        0.5643470315709284,
+        -0.0003384876341148988,
+        -0.0003828915483418393,
+        -0.8255375017388766
+      ],
+      "yaw_degrees_local": -111.34477959821241,
+      "yaw_radians": -1.9423084427206538,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2577221871296262,
+        8.405288501717216,
+        0.9412899513147079
+      ],
+      "z_min": 0.7408160657737795,
+      "z_max": 0.9412498258990795
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17833628091672266,
+        0.24234621388359467,
+        0.017836933528484637
+      ],
+      "bbox_min_m": [
+        -0.08903270824870184,
+        -0.12116652095847395,
+        -0.009176925477404214
+      ],
+      "bbox_max_m": [
+        0.0893035726680208,
+        0.12117969292512071,
+        0.008660008051080373
+      ],
+      "translation_world": [
+        3.5806027591521534,
+        8.666137528100476,
+        0.7496874728683706
+      ],
+      "rotation_wxyz": [
+        0.11151221370203031,
+        -0.00011950504489748322,
+        -0.0004968886801732991,
+        -0.9937629319991045
+      ],
+      "yaw_degrees_local": -167.2537179307528,
+      "yaw_radians": -2.918103541335649,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5806027591521534,
+        8.666137528100476,
+        0.7586059396326129
+      ],
+      "z_min": 0.7405105473909663,
+      "z_max": 0.7583474809194509
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.3657013332239063,
+        8.51697475862563,
+        0.7773446264008953
+      ],
+      "rotation_wxyz": [
+        0.19278765830690608,
+        -3.560358698732674e-05,
+        0.0005098158499242137,
+        0.9812403668952494
+      ],
+      "yaw_degrees_local": 157.71025935834137,
+      "yaw_radians": 2.7535881115588228,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3657013332239063,
+        8.51697475862563,
+        0.813954839470074
+      ],
+      "z_min": 0.7406890756766106,
+      "z_max": 0.8139095018149679
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.8116928834712023,
+        8.604672296368586,
+        0.7460501558894
+      ],
+      "rotation_wxyz": [
+        0.16925564462200832,
+        -0.00014826876325225319,
+        -0.0004890768754336683,
+        -0.9855720499201327
+      ],
+      "yaw_degrees_local": -160.56962086345766,
+      "yaw_radians": -2.8014440818131865,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8116928834712023,
+        8.604672296368586,
+        0.7512860712075335
+      ],
+      "z_min": 0.7407970082203189,
+      "z_max": 0.7512688388565859
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.8732689924016295,
+        8.819690182167065,
+        0.7748221832820479
+      ],
+      "rotation_wxyz": [
+        0.8302059864227226,
+        -0.000385695529795784,
+        0.0003352890909884515,
+        0.5574565085529617
+      ],
+      "yaw_degrees_local": 67.701460085001,
+      "yaw_radians": 1.182637945482616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8732689924016295,
+        8.819690182167065,
+        0.8090277029945497
+      ],
+      "z_min": 0.7405711435471743,
+      "z_max": 0.808982182972178
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.82534957917347,
+        8.249247432000807,
+        0.7949391195115701
+      ],
+      "rotation_wxyz": [
+        0.999487168530104,
+        -0.0005088842355104132,
+        4.708132420923425e-05,
+        -0.03201778824121985
+      ],
+      "yaw_degrees_local": -3.72830632606221,
+      "yaw_radians": -0.0640465621784941,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.82534957917347,
+        8.249247432000807,
+        0.8488593218049684
+      ],
+      "z_min": 0.7410290855317438,
+      "z_max": 0.8488694901185403
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.673354957289015,
+        8.881622026362503,
+        0.7796373335509881
+      ],
+      "rotation_wxyz": [
+        0.997869520561018,
+        -0.0005019026146444142,
+        9.629943745117792e-05,
+        0.06523924245044624
+      ],
+      "yaw_degrees_local": 7.422470322929371,
+      "yaw_radians": 0.13057110845413358,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.673354957289015,
+        8.881622026362503,
+        0.8188774083908793
+      ],
+      "z_min": 0.7402802600365774,
+      "z_max": 0.81876040971636
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        4.851032369129629,
+        8.698680051529713,
+        1.0618348921354523
+      ],
+      "rotation_wxyz": [
+        0.6134378287482836,
+        0.0,
+        0.0,
+        0.7897430153287788
+      ],
+      "yaw_degrees_local": 14.323004722698954,
+      "yaw_radians": 1.820779917984691,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.851032369129629,
+        8.698680051529713,
+        1.2033956793312037
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2033216032878347
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.728459612360237,
+        8.839673811924616,
+        0.779915189636872
+      ],
+      "rotation_wxyz": [
+        0.993490242365538,
+        -0.0005110314009457841,
+        5.1694765404103335e-06,
+        -0.11391609695143501
+      ],
+      "yaw_degrees_local": -13.140934413515168,
+      "yaw_radians": -0.22832782822376435,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.728459612360237,
+        8.839673811924616,
+        0.8192640489627478
+      ],
+      "z_min": 0.7405692256789357,
+      "z_max": 0.8192669443306874
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.9767120400200782,
+        8.272027728855793,
+        0.8359870220487865
+      ],
+      "rotation_wxyz": [
+        0.2894688272664568,
+        -0.00020743259729947118,
+        -0.0004670669478970954,
+        -0.9571873050041805
+      ],
+      "yaw_degrees_local": -146.406389567242,
+      "yaw_radians": -2.5542491121264206,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9767120400200782,
+        8.272027728855793,
+        0.9308838681129901
+      ],
+      "z_min": 0.7411135257463718,
+      "z_max": 0.930907217874779
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.7482973923295746,
+        8.232181408152352,
+        0.8139550868158164
+      ],
+      "rotation_wxyz": [
+        0.7467547849562592,
+        -0.00033655686693390564,
+        0.00038458977048271307,
+        0.665099263242048
+      ],
+      "yaw_degrees_local": 83.32118500579594,
+      "yaw_radians": 1.4552537096993463,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7482973923295746,
+        8.232181408152352,
+        0.8868175314225601
+      ],
+      "z_min": 0.74118286801394,
+      "z_max": 0.8869077572274273
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        4.909764326560376,
+        8.155848562837317,
+        0.9327104210321833
+      ],
+      "rotation_wxyz": [
+        -0.591966192981648,
+        0.0,
+        0.0,
+        0.8059627946542038
+      ],
+      "yaw_degrees_local": 162.59331942689766,
+      "yaw_radians": -1.8746002146384657,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.909764326560376,
+        8.155848562837317,
+        0.9452812437974482
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9453416744268615
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.258571587345947,
+        8.358275078459721,
+        0.8826252266541276
+      ],
+      "rotation_wxyz": [
+        0.9003631861760177,
+        -0.0004290222515451071,
+        0.0002777043822475249,
+        0.4351389109228839
+      ],
+      "yaw_degrees_local": 51.52956346134559,
+      "yaw_radians": 0.9003850027952739,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.258571587345947,
+        8.358275078459721,
+        1.024186013849879
+      ],
+      "z_min": 0.740990363415007,
+      "z_max": 1.02411193780651
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.731406951996372,
+        8.869250330862048,
+        0.7869890567795936
+      ],
+      "rotation_wxyz": [
+        0.8470918439005692,
+        -0.000463241201105968,
+        -0.00021584115881409814,
+        -0.5314462783925744
+      ],
+      "yaw_degrees_local": -64.26517222588498,
+      "yaw_radians": -1.1206139213009516,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.731406951996372,
+        8.869250330862048,
+        0.8333562249154786
+      ],
+      "z_min": 0.7404121574472348,
+      "z_max": 0.8331464937190046
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.7190506503338896,
+        8.459593089836183,
+        0.8706537161066358
+      ],
+      "rotation_wxyz": [
+        0.9033931723918099,
+        -0.0004309595612700176,
+        0.00027468831935534966,
+        0.4288129136302283
+      ],
+      "yaw_degrees_local": 50.725793133224755,
+      "yaw_radians": 0.8863565608570914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7190506503338896,
+        8.459593089836183,
+        1.0008208656214048
+      ],
+      "z_min": 0.7407025529909996,
+      "z_max": 1.001036852020538
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.729310222061433,
+        8.283204411121527,
+        0.789745677321898
+      ],
+      "rotation_wxyz": [
+        0.11442519466938439,
+        4.907598540038657e-06,
+        0.0005110339829374192,
+        0.9934317357750645
+      ],
+      "yaw_degrees_local": 166.80034330089774,
+      "yaw_radians": 2.912239928661939,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.729310222061433,
+        8.283204411121527,
+        0.8386131418278472
+      ],
+      "z_min": 0.7408801098095799,
+      "z_max": 0.8386150388214783
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.983974891649161,
+        8.783548290528957,
+        0.7967537048694385
+      ],
+      "rotation_wxyz": [
+        0.6114270299856566,
+        -0.00025993507631864735,
+        0.000440015422842804,
+        0.7913006545069345
+      ],
+      "yaw_degrees_local": 104.55576161772842,
+      "yaw_radians": 1.825867161967265,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.983974891649161,
+        8.783548290528957,
+        0.8529359846793312
+      ],
+      "z_min": 0.7405937846994743,
+      "z_max": 0.8529583443192597
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.1204623710055763,
+        8.317961085862898,
+        0.7716406924849838
+      ],
+      "rotation_wxyz": [
+        0.021930932876941835,
+        5.221377283495818e-05,
+        0.0005083832591329617,
+        0.9997593575472705
+      ],
+      "yaw_degrees_local": 177.4279879670753,
+      "yaw_radians": 3.097727223511558,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1204623710055763,
+        8.317961085862898,
+        0.8022430939903765
+      ],
+      "z_min": 0.7410486917516083,
+      "z_max": 0.8022534947623938
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.185716500424932,
+        8.64451797289158,
+        0.7462723060787281
+      ],
+      "rotation_wxyz": [
+        0.1667998524450773,
+        -2.212382339460657e-05,
+        0.0005105784490934932,
+        0.985990642980188
+      ],
+      "yaw_degrees_local": 160.7376719601325,
+      "yaw_radians": 2.806426404737957,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.185716500424932,
+        8.64451797289158,
+        0.7521033571035143
+      ],
+      "z_min": 0.7405825053494034,
+      "z_max": 0.7522446073989758
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.423466087373174,
+        8.81697769036929,
+        0.7865894906389952
+      ],
+      "rotation_wxyz": [
+        0.4263566841983861,
+        -0.00027351632753055705,
+        -0.0004317043372662703,
+        -0.9045549826624923
+      ],
+      "yaw_degrees_local": -129.58556865662152,
+      "yaw_radians": -2.260670382352444,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.423466087373174,
+        8.81697769036929,
+        0.8327820905450777
+      ],
+      "z_min": 0.7403774891827644,
+      "z_max": 0.8327626889949292
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.0617619540857914,
+        8.324755006351898,
+        0.8708737524438929
+      ],
+      "rotation_wxyz": [
+        0.5023293182366516,
+        -0.0003095169222716442,
+        -0.0004066682813643099,
+        -0.8646762370159624
+      ],
+      "yaw_degrees_local": -119.75024876368158,
+      "yaw_radians": -2.089011616025442,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0617619540857914,
+        8.324755006351898,
+        1.0010409019586621
+      ],
+      "z_min": 0.7409225893282567,
+      "z_max": 1.001256888357795
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.5793755414029373,
+        8.303102093530558,
+        0.7453258742360608
+      ],
+      "rotation_wxyz": [
+        0.662786241726104,
+        -0.0002886720545805564,
+        0.0004217205960639733,
+        0.7488084779159291
+      ],
+      "yaw_degrees_local": 96.91584593558207,
+      "yaw_radians": 1.692525422435387,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5793755414029373,
+        8.303102093530558,
+        0.7494624755961878
+      ],
+      "z_min": 0.7410056036835934,
+      "z_max": 0.7492788064038475
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.1748253965775857,
+        8.877428509924641,
+        0.8268616602192475
+      ],
+      "rotation_wxyz": [
+        0.9520391058743977,
+        -0.0005021779640979445,
+        -9.485308964264785e-05,
+        -0.3059759462867326
+      ],
+      "yaw_degrees_local": -35.69249283218625,
+      "yaw_radians": -0.6219266089358718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1748253965775857,
+        8.877428509924641,
+        0.9132609391775142
+      ],
+      "z_min": 0.7404744031768865,
+      "z_max": 0.9132729610934198
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.7821089440458304,
+        8.357746341233312,
+        0.7886310220097654
+      ],
+      "rotation_wxyz": [
+        0.19587560367864598,
+        -0.0001614550001531232,
+        -0.0004848835934179126,
+        -0.9806286181341589
+      ],
+      "yaw_degrees_local": -157.46695052040022,
+      "yaw_radians": -2.747292284400798,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7821089440458304,
+        8.357746341233312,
+        0.8360299474378659
+      ],
+      "z_min": 0.7410512188974657,
+      "z_max": 0.8358490697536667
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.686977130283754,
+        8.243873227518435,
+        0.7410520400067265
+      ],
+      "rotation_wxyz": [
+        0.8167541336865874,
+        -0.00037763669980359494,
+        0.00034434044084562904,
+        0.5769856358056551
+      ],
+      "yaw_degrees_local": 70.41891296652639,
+      "yaw_radians": 1.2300664674961095,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.686977130283754,
+        8.243873227518435,
+        0.791052133884042
+      ],
+      "z_min": 0.7410520400067265,
+      "z_max": 0.8410522277613576
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.2124284057955856,
+        8.49136170705225,
+        0.7460979195103898
+      ],
+      "rotation_wxyz": [
+        0.7431589192117238,
+        -0.00033447896225087043,
+        0.0003863982919888407,
+        0.6691147581814696
+      ],
+      "yaw_degrees_local": 83.93885931804897,
+      "yaw_radians": 1.4660341657820717,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2124284057955856,
+        8.49136170705225,
+        0.7514333602053906
+      ],
+      "z_min": 0.7407344567635797,
+      "z_max": 0.7514053381535813
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.8139336295386856,
+        8.467763283154397,
+        0.7468758348630821
+      ],
+      "rotation_wxyz": [
+        0.9573207112256554,
+        -0.0004671625697202958,
+        0.00020721715588397212,
+        0.2890273251417403
+      ],
+      "yaw_degrees_local": 33.540758822361084,
+      "yaw_radians": 0.5864211069182429,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8139336295386856,
+        8.467763283154397,
+        0.7526930476296544
+      ],
+      "z_min": 0.7409355822007724,
+      "z_max": 0.752570007733917
+    }
+  ],
+  "variant_index": 73
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0075/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0075/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..719a1fcebb4f59e4e0a377795bee3c46447db2a2
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0075/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6631074346696951096
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.553635416, -0.000228001618, 0.000457378485, 0.832759007)
+            double3 xformOp:translate = (3.64395729685, 8.37806409267, 0.740794685859)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929292647, -0.000447860993, 0.000246171378, 0.369343897)
+            double3 xformOp:translate = (1.90000114955, 8.71822049843, 0.74067065248)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.529985276, -0.000215042305, 0.000463612579, 0.84800669)
+            double3 xformOp:translate = (3.24897702269, 8.33011855915, 0.780250455273)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.667148048, -0.000291130018, 0.000420027533, 0.744924976)
+            double3 xformOp:translate = (3.60552396612, 8.85986854653, 0.774561954446)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.835784796, -0.000458622861, -0.00022548811, -0.549056931)
+            double3 xformOp:translate = (1.82108003179, 8.87061219309, 0.816675657578)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.909586407, -0.000434942711, 0.00026833683, 0.415514508)
+            double3 xformOp:translate = (1.90473514784, 8.36122150512, 0.754410422704)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.916961795, -0.000439730694, 0.000260416461, 0.398974693)
+            double3 xformOp:translate = (3.4837114713, 8.71462579668, 0.748169833212)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0656421171, 0, 0, 0.99784323)
+            double3 xformOp:translate = (4.86717292544, 8.07314064417, 0.998909598959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.304226028, -9.39301617e-05, 0.000502351412, 0.952599739)
+            double3 xformOp:translate = (3.54667872124, 8.25823263609, 0.882563488301)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.100178523, 1.22297214e-05, 0.000510911196, 0.994969347)
+            double3 xformOp:translate = (2.38135559972, 8.24979802559, 0.801759275972)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.58194167, -0.00024359332, 0.000449268417, 0.813230368)
+            double3 xformOp:translate = (3.32622172195, 8.87041936109, 0.747316590997)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.237994981, -5.91608072e-05, 0.000507621724, 0.97126625)
+            double3 xformOp:translate = (3.01563462141, 8.86916471761, 0.747794195553)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991266453, -0.000511041278, -4.07776715e-06, -0.131873263)
+            double3 xformOp:translate = (2.10369383092, 8.17251970845, 0.746485525604)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.142583368, -9.60303119e-06, 0.000510967316, 0.989782664)
+            double3 xformOp:translate = (2.59021375524, 8.25085097545, 0.789922816016)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999801954, -0.000508275852, 5.32491773e-05, -0.0198945033)
+            double3 xformOp:translate = (3.58121661718, 8.59536049982, 0.745664464912)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.359362143, -0.000123119673, 0.000496005406, 0.933198044)
+            double3 xformOp:translate = (1.97485738548, 8.8867904686, 0.882125136246)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995567088, -0.000510826246, 1.53740854e-05, -0.0940527117)
+            double3 xformOp:translate = (3.35348004344, 8.59682799171, 0.781173164897)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.538154135, -0.000219511778, 0.000461513159, 0.842846288)
+            double3 xformOp:translate = (1.72758538891, 8.76603896158, 0.748340191468)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994039405, -0.000497186756, 0.00011825881, 0.109020182)
+            double3 xformOp:translate = (2.18298142171, 8.3291473603, 0.748010416304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.688935722, 0, 0, 0.724822441)
+            double3 xformOp:translate = (4.9720375396, 8.21787915455, 0.929019532894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.793797397, -0.000364018661, 0.000358706329, 0.608182071)
+            double3 xformOp:translate = (2.26835025745, 8.83934885021, 0.78759740284)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.549323177, -0.000331506885, -0.000388951155, -0.835609829)
+            double3 xformOp:translate = (2.90059542793, 8.22891881205, 0.801714664074)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.792805449, -0.000440654839, -0.000258849626, -0.609474577)
+            double3 xformOp:translate = (1.81416218912, 8.58312374043, 0.752625932712)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.640758926, -0.000276302204, 0.000429926631, 0.767741973)
+            double3 xformOp:translate = (3.18336541717, 8.86197599683, 0.751940981405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.871608915, -0.000473061328, -0.00019337217, -0.49020163)
+            double3 xformOp:translate = (3.17369458783, 8.43844953132, 0.841012565726)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979830743, -0.000509547052, -3.92634426e-05, -0.199828563)
+            double3 xformOp:translate = (1.73751607601, 8.25715325993, 0.741158865755)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.647281283, 0, 0, 0.762251232)
+            double3 xformOp:translate = (4.82979990064, 8.69954187577, 0.998909598959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.1468693, -0.000137143322, -0.000492312427, -0.989155775)
+            double3 xformOp:translate = (3.41486091461, 8.30267896888, 0.835773719501)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.966086688, -0.000473559759, 0.000192148305, 0.258217448)
+            double3 xformOp:translate = (3.06689690305, 8.28523360069, 0.841219012573)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.514006592, -0.00020631973, 0.000467559606, 0.857786082)
+            double3 xformOp:translate = (3.16919381123, 8.25380485516, 0.75222396857)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0075/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0075/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..1118190399ea33d00e4dce21544478f7cbf38b2b
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0075/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6631074346696951096,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "office_supply": 3,
+    "electronics": 7,
+    "clock": 2,
+    "book": 2,
+    "timepiece": 2,
+    "small object": 4,
+    "office_supplies": 1,
+    "electronics accessory": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 207,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.643957296852054,
+        8.378064092669177,
+        0.7407946858591241
+      ],
+      "rotation_wxyz": [
+        0.5536354164904344,
+        -0.00022800161778243342,
+        0.00045737848498689324,
+        0.8327590074130974
+      ],
+      "yaw_degrees_local": 112.70772562279683,
+      "yaw_radians": 1.968145820345693,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.643957296852054,
+        8.378064092669177,
+        0.7632916975729072
+      ],
+      "z_min": 0.7407946888540586,
+      "z_max": 0.7857887122816247
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.900001149554698,
+        8.718220498426541,
+        0.74067065247982
+      ],
+      "rotation_wxyz": [
+        0.9292926474843229,
+        -0.00044786099289077384,
+        0.00024617137787972594,
+        0.36934389686545754
+      ],
+      "yaw_degrees_local": 43.29161432772332,
+      "yaw_radians": 0.7566056422121169,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.900001149554698,
+        8.718220498426541,
+        0.7906707463571355
+      ],
+      "z_min": 0.74067065247982,
+      "z_max": 0.840670840234451
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.2489770226900077,
+        8.330118559145108,
+        0.7802504552731683
+      ],
+      "rotation_wxyz": [
+        0.5299852761803493,
+        -0.00021504230529856725,
+        0.00046361257874672727,
+        0.8480066897449706
+      ],
+      "yaw_degrees_local": 115.93236022011729,
+      "yaw_radians": 2.0244263245828367,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2489770226900077,
+        8.330118559145108,
+        0.8194905301130595
+      ],
+      "z_min": 0.7408933817587577,
+      "z_max": 0.8193735314385402
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        3.6055239661157072,
+        8.859868546531489,
+        0.7745619544460588
+      ],
+      "rotation_wxyz": [
+        0.6671480482838148,
+        -0.00029113001821521293,
+        0.00042002753330504705,
+        0.7449249764179483
+      ],
+      "yaw_degrees_local": 96.24661704265657,
+      "yaw_radians": 1.6808451693936162,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6055239661157072,
+        8.859868546531489,
+        0.8087674741585607
+      ],
+      "z_min": 0.7403109147111853,
+      "z_max": 0.808721954136189
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.8210800317891582,
+        8.870612193091448,
+        0.816675657578233
+      ],
+      "rotation_wxyz": [
+        0.835784795801379,
+        -0.000458622861039689,
+        -0.00022548810960244174,
+        -0.5490569314082385
+      ],
+      "yaw_degrees_local": -66.66339735792832,
+      "yaw_radians": -1.1624708558359849,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8210800317891582,
+        8.870612193091448,
+        0.8928615961003191
+      ],
+      "z_min": 0.7405261310910307,
+      "z_max": 0.892898008135203
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        1.9047351478413486,
+        8.361221505124817,
+        0.7544104227039445
+      ],
+      "rotation_wxyz": [
+        0.9095864073962422,
+        -0.0004349427107924684,
+        0.00026833683043669536,
+        0.41551450792984523
+      ],
+      "yaw_degrees_local": 49.04473976743114,
+      "yaw_radians": 0.857016638457934,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9047351478413486,
+        8.361221505124817,
+        0.7678148601111818
+      ],
+      "z_min": 0.7410321395315094,
+      "z_max": 0.767841014345984
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.4837114713008015,
+        8.714625796679934,
+        0.74816983321222
+      ],
+      "rotation_wxyz": [
+        0.9169617949523142,
+        -0.0004397306937922542,
+        0.0002604164610336592,
+        0.3989746927037029
+      ],
+      "yaw_degrees_local": 46.96949049763725,
+      "yaw_radians": 0.8207966993152925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4837114713008015,
+        8.714625796679934,
+        0.7560247395560206
+      ],
+      "z_min": 0.7404736444899996,
+      "z_max": 0.7561834571776008
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        4.867172925441354,
+        8.073140644166466,
+        0.9989095989589569
+      ],
+      "rotation_wxyz": [
+        0.06564211713914275,
+        0.0,
+        0.0,
+        0.9978432304011944
+      ],
+      "yaw_degrees_local": 82.47255502590923,
+      "yaw_radians": 3.01021395452921,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.867172925441354,
+        8.073140644166466,
+        1.0776202617835788
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0776213545455757
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.5466787212445947,
+        8.258232636088463,
+        0.8825634883012026
+      ],
+      "rotation_wxyz": [
+        0.30422602796793347,
+        -9.393016172829305e-05,
+        0.00050235141182046,
+        0.9525997389916911
+      ],
+      "yaw_degrees_local": 144.5180728742066,
+      "yaw_radians": 2.5233411084715445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5466787212445947,
+        8.258232636088463,
+        1.024124275496954
+      ],
+      "z_min": 0.740928625062082,
+      "z_max": 1.0240501994535849
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.3813555997248423,
+        8.249798025590579,
+        0.8017592759722261
+      ],
+      "rotation_wxyz": [
+        0.10017852332073807,
+        1.2229721437254338e-05,
+        0.0005109111959566748,
+        0.9949693474099895
+      ],
+      "yaw_degrees_local": 168.44238660843774,
+      "yaw_radians": 2.9408989761163973,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3813555997248423,
+        8.249798025590579,
+        0.8623861424274857
+      ],
+      "z_min": 0.7410847851701438,
+      "z_max": 0.862338518080663
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.3262217219477592,
+        8.87041936108618,
+        0.7473165909969456
+      ],
+      "rotation_wxyz": [
+        0.5819416698001628,
+        -0.0002435933204079954,
+        0.0004492684169768895,
+        0.8132303682047186
+      ],
+      "yaw_degrees_local": 108.76682777562274,
+      "yaw_radians": 1.8993641572659938,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3262217219477592,
+        8.87041936108618,
+        0.7542998718057862
+      ],
+      "z_min": 0.7403355873980637,
+      "z_max": 0.754302149015745
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.0156346214097427,
+        8.86916471760799,
+        0.7477941955526481
+      ],
+      "rotation_wxyz": [
+        0.23799498066361777,
+        -5.916080723387016e-05,
+        0.0005076217244442455,
+        0.9712662497992547
+      ],
+      "yaw_degrees_local": 152.4048205993443,
+      "yaw_radians": 2.660990776260422,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0156346214097427,
+        8.86916471760799,
+        0.7553340981957476
+      ],
+      "z_min": 0.7403762118597363,
+      "z_max": 0.7554560171459352
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.1036938309206894,
+        8.17251970844929,
+        0.7464855256043798
+      ],
+      "rotation_wxyz": [
+        0.9912664532425792,
+        -0.000511041278230461,
+        -4.0777671450425e-06,
+        -0.13187326300680272
+      ],
+      "yaw_degrees_local": -15.214421318800504,
+      "yaw_radians": -0.2645169833794697,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1036938309206894,
+        8.17251970844929,
+        0.7517865162354932
+      ],
+      "z_min": 0.7411983144511121,
+      "z_max": 0.7518002957133391
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        2.5902137552395414,
+        8.250850975452348,
+        0.7899228160160111
+      ],
+      "rotation_wxyz": [
+        0.14258336811319627,
+        -9.603031192608944e-06,
+        0.0005109673160117253,
+        0.9897826640013861
+      ],
+      "yaw_degrees_local": 163.54656277391422,
+      "yaw_radians": 2.855450773927196,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5902137552395414,
+        8.250850975452348,
+        0.8387902805219603
+      ],
+      "z_min": 0.7410572485036929,
+      "z_max": 0.8387921775155913
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        3.5812166171795257,
+        8.595360499817,
+        0.7456644649121222
+      ],
+      "rotation_wxyz": [
+        0.9998019541687057,
+        -0.0005082758516370597,
+        5.3249177298192435e-05,
+        -0.019894503276568547
+      ],
+      "yaw_degrees_local": -2.3386032740076814,
+      "yaw_radians": -0.039791680831229956,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5812166171795257,
+        8.595360499817,
+        0.7507940676082002
+      ],
+      "z_min": 0.7405822518150572,
+      "z_max": 0.7508414572072131
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.9748573854756402,
+        8.88679046859752,
+        0.8821251362464662
+      ],
+      "rotation_wxyz": [
+        0.359362142819904,
+        -0.000123119673267185,
+        0.0004960054055097527,
+        0.9331980438942588
+      ],
+      "yaw_degrees_local": 137.81922740937154,
+      "yaw_radians": 2.406424226402819,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9748573854756402,
+        8.88679046859752,
+        1.0236859234422175
+      ],
+      "z_min": 0.7404902730073456,
+      "z_max": 1.0236118473988485
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.3534800434411456,
+        8.59682799171037,
+        0.7811731648971928
+      ],
+      "rotation_wxyz": [
+        0.9955670877671413,
+        -0.0005108262461318891,
+        1.5374085439963405e-05,
+        -0.09405271168359412
+      ],
+      "yaw_degrees_local": -10.852311968945031,
+      "yaw_radians": -0.18838385179634512,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3534800434411456,
+        8.59682799171037,
+        0.8217231740367243
+      ],
+      "z_min": 0.7406096364506278,
+      "z_max": 0.8217096547296908
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        1.7275853889104116,
+        8.766038961582401,
+        0.7483401914682664
+      ],
+      "rotation_wxyz": [
+        0.5381541348845637,
+        -0.0002195117781203128,
+        0.0004615131585413044,
+        0.8428462884339177
+      ],
+      "yaw_degrees_local": 114.82513802673748,
+      "yaw_radians": 2.0051016475099575,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7275853889104116,
+        8.766038961582401,
+        0.756195097812067
+      ],
+      "z_min": 0.740644002746046,
+      "z_max": 0.7563538154336472
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        2.182981421714251,
+        8.329147360299602,
+        0.7480104163038009
+      ],
+      "rotation_wxyz": [
+        0.9940394050496083,
+        -0.0004971867556476642,
+        0.0001182588104492111,
+        0.10902018175000837
+      ],
+      "yaw_degrees_local": 12.45896408838152,
+      "yaw_radians": 0.2184744695072152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.182981421714251,
+        8.329147360299602,
+        0.7549936971126415
+      ],
+      "z_min": 0.7410294127049191,
+      "z_max": 0.7549959743226003
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        4.972037539595495,
+        8.217879154547795,
+        0.9290195328940867
+      ],
+      "rotation_wxyz": [
+        -0.6889357220636237,
+        0.0,
+        0.0,
+        0.7248224409223777
+      ],
+      "yaw_degrees_local": 177.09184196852857,
+      "yaw_radians": -1.6215532596123903,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.972037539595495,
+        8.217879154547795,
+        0.9378216560174807
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9378042751431199
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.268350257452497,
+        8.839348850212764,
+        0.7875974028401771
+      ],
+      "rotation_wxyz": [
+        0.7937973972163478,
+        -0.0003640186613321414,
+        0.00035870632896879354,
+        0.6081820705946006
+      ],
+      "yaw_degrees_local": 74.85764223217092,
+      "yaw_radians": 1.3075369456864048,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.268350257452497,
+        8.839348850212764,
+        0.8347031535268096
+      ],
+      "z_min": 0.7405011545643625,
+      "z_max": 0.8347126559376274
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.900595427932368,
+        8.228918812046176,
+        0.8017146640744425
+      ],
+      "rotation_wxyz": [
+        0.5493231771304323,
+        -0.0003315068851953893,
+        -0.0003889511554274696,
+        -0.8356098287403708
+      ],
+      "yaw_degrees_local": -113.41751563058727,
+      "yaw_radians": -1.978484527305035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.900595427932368,
+        8.228918812046176,
+        0.8623415305297021
+      ],
+      "z_min": 0.7410401732723602,
+      "z_max": 0.8622939061828794
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        1.8141621891177837,
+        8.583123740433786,
+        0.7526259327123984
+      ],
+      "rotation_wxyz": [
+        0.7928054486383742,
+        -0.0004406548389694614,
+        -0.0002588496264882579,
+        -0.6094745765243126
+      ],
+      "yaw_degrees_local": -75.16176415617797,
+      "yaw_radians": -1.3107953844649707,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8141621891177837,
+        8.583123740433786,
+        0.7643132576650651
+      ],
+      "z_min": 0.7408185540189993,
+      "z_max": 0.7641932039243327
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.1833654171718786,
+        8.861975996829974,
+        0.7519409814047694
+      ],
+      "rotation_wxyz": [
+        0.6407589260508509,
+        -0.0002763022041049832,
+        0.0004299266312372854,
+        0.7677419732607721
+      ],
+      "yaw_degrees_local": 100.24440907471495,
+      "yaw_radians": 1.750619834428321,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1833654171718786,
+        8.861975996829974,
+        0.7634537358282198
+      ],
+      "z_min": 0.7403622533853182,
+      "z_max": 0.763387762232219
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.1736945878306946,
+        8.43844953131839,
+        0.8410125657260971
+      ],
+      "rotation_wxyz": [
+        0.871608914867719,
+        -0.00047306132811349296,
+        -0.00019337216987925327,
+        -0.49020163029441405
+      ],
+      "yaw_degrees_local": -58.766388854344015,
+      "yaw_radians": -1.0246420305879302,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1736945878306946,
+        8.43844953131839,
+        0.94110126681811
+      ],
+      "z_min": 0.7407930791619017,
+      "z_max": 0.9409704813459278
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.737516076009087,
+        8.257153259925428,
+        0.741158865754975
+      ],
+      "rotation_wxyz": [
+        0.9798307426164383,
+        -0.0005095470521087497,
+        -3.926344263555788e-05,
+        -0.19982856313325925
+      ],
+      "yaw_degrees_local": -23.11258157823619,
+      "yaw_radians": -0.4023658191673418,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.737516076009087,
+        8.257153259925428,
+        0.7636558774687581
+      ],
+      "z_min": 0.7411588687499095,
+      "z_max": 0.7861528921774756
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        4.829799900642806,
+        8.699541875769306,
+        0.9989095989589569
+      ],
+      "rotation_wxyz": [
+        -0.6472812831648712,
+        0.0,
+        0.0,
+        0.7622512318549822
+      ],
+      "yaw_degrees_local": 170.6738690347948,
+      "yaw_radians": -1.7335680186099245,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.829799900642806,
+        8.699541875769306,
+        1.0776202617835788
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0776213545455757
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.414860914605554,
+        8.302678968878304,
+        0.8357737195011437
+      ],
+      "rotation_wxyz": [
+        0.146869300024947,
+        -0.00013714332164742007,
+        -0.0004923124267859028,
+        -0.9891557751589818
+      ],
+      "yaw_degrees_local": -163.16762572476415,
+      "yaw_radians": -2.846787805603768,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.414860914605554,
+        8.302678968878304,
+        0.9306705655653472
+      ],
+      "z_min": 0.740900223198729,
+      "z_max": 0.9306939153271362
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.066896903045313,
+        8.2852336006885,
+        0.8412190125730303
+      ],
+      "rotation_wxyz": [
+        0.9660866878638174,
+        -0.0004735597588247898,
+        0.00019214830486402815,
+        0.25821744780805045
+      ],
+      "yaw_degrees_local": 29.869929689897674,
+      "yaw_radians": 0.5223530593635308,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.066896903045313,
+        8.2852336006885,
+        0.9414358926356803
+      ],
+      "z_min": 0.7409620070947518,
+      "z_max": 0.9413957672200518
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.169193811232738,
+        8.25380485516142,
+        0.7522239685695278
+      ],
+      "rotation_wxyz": [
+        0.5140065916141683,
+        -0.00020631972957469685,
+        0.00046755960628409355,
+        0.8577860820725466
+      ],
+      "yaw_degrees_local": 118.07912605646516,
+      "yaw_radians": 2.0618944639090624,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.169193811232738,
+        8.25380485516142,
+        0.76345696779344
+      ],
+      "z_min": 0.7409808755095786,
+      "z_max": 0.763446873957403
+    }
+  ],
+  "variant_index": 75
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0077/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0077/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..86de82cb340069a17ea0cc5145d36f99b5ce6432
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0077/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1487249039561746006
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999805229, -0.000505767327, 7.33432148e-05, 0.0197292352)
+            double3 xformOp:translate = (1.89631340398, 8.58813430454, 0.740803057325)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.861837562, -0.000469181971, -0.000202603294, -0.507184144)
+            double3 xformOp:translate = (3.40461459897, 8.32794783749, 0.740572146972)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.222295835, -0.000174495223, -0.000480344911, -0.974979128)
+            double3 xformOp:translate = (3.61440327345, 8.85985390125, 0.835183332516)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.563568167, -0.000338126356, -0.000383210626, -0.826069404)
+            double3 xformOp:translate = (3.00497683444, 8.29345493189, 0.748379449296)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.860462991, -0.000404076607, 0.000312892813, 0.509512689)
+            double3 xformOp:translate = (2.84394016689, 8.84029639163, 0.799425702709)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702187069, -0.000310985166, 0.000405546597, 0.711992317)
+            double3 xformOp:translate = (3.70835213442, 8.57836742853, 0.749617290166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986269111, -0.000489690757, 0.000146228515, 0.165145326)
+            double3 xformOp:translate = (3.33525133259, 8.50854652734, 0.754800604232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989705522, 0, 0, -0.143118758)
+            double3 xformOp:translate = (4.96097502801, 8.2397814875, 0.976359949066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.19477964, 0, 0, 0.980847028)
+            double3 xformOp:translate = (4.94178433142, 8.11306776539, 0.927618012589)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0166457659, -7.17830917e-05, -0.000505991111, -0.999861319)
+            double3 xformOp:translate = (3.67622578649, 8.72516048751, 0.746378819833)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.355798262, -0.000239636027, -0.000451391616, -0.934562644)
+            double3 xformOp:translate = (1.95538827798, 8.81520845193, 0.759182560712)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.968431131, -0.000475314809, 0.000187764875, 0.249280731)
+            double3 xformOp:translate = (3.1463523267, 8.19314643182, 0.841302343252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979004106, -0.000509381971, -4.13500157e-05, -0.203839885)
+            double3 xformOp:translate = (2.02488347404, 8.40196586729, 0.746262799288)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999669518, -0.000505320128, 7.63635011e-05, 0.0257019987)
+            double3 xformOp:translate = (2.13095693426, 8.22143477929, 0.749158019996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998364126, -0.000502664405, 9.22405109e-05, 0.0571735131)
+            double3 xformOp:translate = (1.86916071496, 8.39045245204, 0.744516422533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0875564128, -0.000107508496, -0.000499621596, -0.996159432)
+            double3 xformOp:translate = (2.44862601478, 8.28459717953, 0.746338259744)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.212638189, -4.59304464e-05, 0.000508989401, 0.977130871)
+            double3 xformOp:translate = (1.77746585452, 8.21987626249, 0.812474191704)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992378033, -0.000495444061, 0.000125359476, 0.12322978)
+            double3 xformOp:translate = (3.20870242372, 8.83085426323, 0.840610140688)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977119459, -0.000508986936, -4.59577593e-05, -0.212690622)
+            double3 xformOp:translate = (2.19925991631, 8.36032325382, 0.746685530662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.927812058, -0.000446875529, 0.000247955797, 0.373047617)
+            double3 xformOp:translate = (3.59284151819, 8.30364872478, 0.79355459115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.711973052, -0.000405538065, -0.000310996292, -0.702206602)
+            double3 xformOp:translate = (3.75517186283, 8.47489942244, 0.799680845996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.471635767, -0.000295036109, -0.000417293075, -0.88179331)
+            double3 xformOp:translate = (3.46934540132, 8.73857122062, 0.835324720308)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0657949192, 2.9847612e-05, 0.000510185198, 0.997833036)
+            double3 xformOp:translate = (2.39290372668, 8.85580724728, 0.754567797733)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0950564061, -0.000111268297, -0.000498797737, -0.995471757)
+            double3 xformOp:translate = (2.69531479414, 8.21300055174, 0.871033526673)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.177151259, -0.00015218479, -0.00048787253, -0.984183504)
+            double3 xformOp:translate = (2.01074097593, 8.48916831578, 0.788312008059)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.414654464, -0.000267925547, -0.000435196183, -0.909978799)
+            double3 xformOp:translate = (3.10034427803, 8.29641494038, 0.777601946302)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.923054443, -0.000443726646, 0.000253547785, 0.384668994)
+            double3 xformOp:translate = (3.39745010534, 8.74456058547, 0.745817674604)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.150243688, -0.000138822414, -0.000491841594, -0.988648862)
+            double3 xformOp:translate = (1.71654775351, 8.44045971867, 0.801650132647)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.960244369, -0.0005046402, -8.07346554e-05, -0.279160331)
+            double3 xformOp:translate = (2.16447601618, 8.86413601489, 0.816638717271)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.706953746, -0.000403312805, -0.000313876724, -0.707259599)
+            double3 xformOp:translate = (3.64749882459, 8.39184844257, 0.746470063309)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0077/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0077/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc45c86536624161a36a03f47bba40a1f57ae7b6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0077/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1487249039561746006,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 4,
+    "clock": 3,
+    "electronics": 5,
+    "drinkware": 5,
+    "electronics accessory": 2,
+    "office_supply": 2,
+    "small object": 4,
+    "drinkware/container": 1,
+    "office_supplies": 3,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 169,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.8963134039794456,
+        8.588134304539183,
+        0.7408030573249892
+      ],
+      "rotation_wxyz": [
+        0.9998052290810048,
+        -0.0005057673270214953,
+        7.334321480440014e-05,
+        0.019729235222471577
+      ],
+      "yaw_degrees_local": 2.2022403911704487,
+      "yaw_radians": 0.03946095185694421,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8963134039794456,
+        8.588134304539183,
+        0.8908030632854537
+      ],
+      "z_min": 0.7408030573249892,
+      "z_max": 1.0408030692459183
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.4046145989715884,
+        8.327947837487951,
+        0.7405721469721998
+      ],
+      "rotation_wxyz": [
+        0.8618375618101832,
+        -0.000469181970536734,
+        -0.00020260329405905492,
+        -0.5071841439489828
+      ],
+      "yaw_degrees_local": -61.01161590297855,
+      "yaw_radians": -1.0638286404824613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4046145989715884,
+        8.327947837487951,
+        0.7493842143767055
+      ],
+      "z_min": 0.7408758432020208,
+      "z_max": 0.7584999780110324
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.6144032734454505,
+        8.859853901254688,
+        0.8351833325158644
+      ],
+      "rotation_wxyz": [
+        0.22229583481094273,
+        -0.0001744952226762643,
+        -0.0004803449109790522,
+        -0.9749791283129553
+      ],
+      "yaw_degrees_local": -154.3708784108447,
+      "yaw_radians": -2.693255645227976,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6144032734454505,
+        8.859853901254688,
+        0.930080178580068
+      ],
+      "z_min": 0.7403098362134497,
+      "z_max": 0.9301035283418569
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.0049768344435686,
+        8.293454931887217,
+        0.7483794492957064
+      ],
+      "rotation_wxyz": [
+        0.5635681674609356,
+        -0.0003381263559644873,
+        -0.0003832106256910023,
+        -0.8260694035278797
+      ],
+      "yaw_degrees_local": -111.45285767143052,
+      "yaw_radians": -1.9441947618139528,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0049768344435686,
+        8.293454931887217,
+        0.7559193519388059
+      ],
+      "z_min": 0.7409614656027946,
+      "z_max": 0.7560412708889935
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.8439401668908015,
+        8.84029639163377,
+        0.7994257027088668
+      ],
+      "rotation_wxyz": [
+        0.8604629908362013,
+        -0.00040407660655770387,
+        0.0003128928127540215,
+        0.5095126889699643
+      ],
+      "yaw_degrees_local": 61.20404974251696,
+      "yaw_radians": 1.0692366947827197,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8439401668908015,
+        8.84029639163377,
+        0.8585519807413869
+      ],
+      "z_min": 0.7404272718681607,
+      "z_max": 0.858679827933201
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.7083521344155623,
+        8.578367428526452,
+        0.7496172901662811
+      ],
+      "rotation_wxyz": [
+        0.7021870686212637,
+        -0.0003109851663970799,
+        0.00040554659722563706,
+        0.7119923170099945
+      ],
+      "yaw_degrees_local": 90.73580030987677,
+      "yaw_radians": 1.5846632262082432,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7083521344155623,
+        8.578367428526452,
+        0.7584505362697633
+      ],
+      "z_min": 0.7405833805864818,
+      "z_max": 0.7582498727934462
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.335251332592127,
+        8.508546527340698,
+        0.7548006042319372
+      ],
+      "rotation_wxyz": [
+        0.9862691113451293,
+        -0.0004896907572997288,
+        0.00014622851450907525,
+        0.16514532638459087
+      ],
+      "yaw_degrees_local": 18.95264583634537,
+      "yaw_radians": 0.3318105553785413,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.335251332592127,
+        8.508546527340698,
+        0.7688925295235314
+      ],
+      "z_min": 0.7407014701266073,
+      "z_max": 0.7688853207097958
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        4.960975028014453,
+        8.23978148749781,
+        0.976359949066296
+      ],
+      "rotation_wxyz": [
+        0.9897055223584975,
+        0.0,
+        0.0,
+        -0.14311875842493083
+      ],
+      "yaw_degrees_local": -106.45671158828267,
+      "yaw_radians": -0.28722380126663816,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.960975028014453,
+        8.23978148749781,
+        1.0325422288761885
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.032564588516117
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        4.941784331420307,
+        8.113067765390998,
+        0.9276180125892436
+      ],
+      "rotation_wxyz": [
+        0.1947796402420025,
+        0.0,
+        0.0,
+        0.9808470276996286
+      ],
+      "yaw_degrees_local": 67.53629784074553,
+      "yaw_radians": 2.7495270887234433,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.941784331420307,
+        8.113067765390998,
+        0.935157915232343
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9352798341825307
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.67622578648676,
+        8.725160487510298,
+        0.7463788198332297
+      ],
+      "rotation_wxyz": [
+        0.016645765946758463,
+        -7.17830916629949e-05,
+        -0.0005059911105855662,
+        -0.9998613190319094
+      ],
+      "yaw_degrees_local": -178.15115780094055,
+      "yaw_radians": -3.1082996606987976,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.67622578648676,
+        8.725160487510298,
+        0.7521960325998021
+      ],
+      "z_min": 0.74043856717092,
+      "z_max": 0.7520729927040647
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        1.955388277981148,
+        8.815208451932847,
+        0.7591825607120106
+      ],
+      "rotation_wxyz": [
+        0.3557982619111968,
+        -0.00023963602740412982,
+        -0.0004513916155737497,
+        -0.934562644043274
+      ],
+      "yaw_degrees_local": -138.3739528517708,
+      "yaw_radians": -2.414056645020419,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.955388277981148,
+        8.815208451932847,
+        0.7781002055870399
+      ],
+      "z_min": 0.7405652762902506,
+      "z_max": 0.7775285748284957
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.146352326697463,
+        8.193146431822163,
+        0.8413023432516182
+      ],
+      "rotation_wxyz": [
+        0.968431131139691,
+        -0.0004753148092599189,
+        0.00018776487514580428,
+        0.24928073142479865
+      ],
+      "yaw_degrees_local": 28.811200772409165,
+      "yaw_radians": 0.5038747566827575,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.146352326697463,
+        8.193146431822163,
+        0.9415192233142682
+      ],
+      "z_min": 0.7410453377733397,
+      "z_max": 0.9414790978986397
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.0248834740428,
+        8.401965867291448,
+        0.7462627992876234
+      ],
+      "rotation_wxyz": [
+        0.9790041063059475,
+        -0.0005093819710573482,
+        -4.135001574417493e-05,
+        -0.2038398848515112
+      ],
+      "yaw_degrees_local": -23.581904417951222,
+      "yaw_radians": -0.4105570443599654,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0248834740428,
+        8.401965867291448,
+        0.7515637899187368
+      ],
+      "z_min": 0.7409755881343557,
+      "z_max": 0.7515775693965827
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        2.1309569342591717,
+        8.221434779288716,
+        0.7491580199958542
+      ],
+      "rotation_wxyz": [
+        0.9996695184335964,
+        -0.0005053201281760673,
+        7.636350110121655e-05,
+        0.025701998656242817
+      ],
+      "yaw_degrees_local": 2.8868464245071266,
+      "yaw_radians": 0.05140957533245449,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1309569342591717,
+        8.221434779288716,
+        0.7569873591806722
+      ],
+      "z_min": 0.7411452503702914,
+      "z_max": 0.7568039287399274
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        1.8691607149614788,
+        8.390452452044533,
+        0.7445164225327301
+      ],
+      "rotation_wxyz": [
+        0.9983641260670223,
+        -0.0005026644053265963,
+        9.224051093728753e-05,
+        0.05717351312115521
+      ],
+      "yaw_degrees_local": 6.4964670262048685,
+      "yaw_radians": 0.11440930947643371,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8691607149614788,
+        8.390452452044533,
+        0.7480967020140552
+      ],
+      "z_min": 0.7410069947299779,
+      "z_max": 0.748167553692628
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        2.448626014782427,
+        8.284597179530433,
+        0.746338259743994
+      ],
+      "rotation_wxyz": [
+        0.08755641280200122,
+        -0.0001075084955765504,
+        -0.0004996215964299176,
+        -0.996159431716344
+      ],
+      "yaw_degrees_local": -170.01261950388238,
+      "yaw_radians": -2.9662554374696377,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.448626014782427,
+        8.284597179530433,
+        0.7516879156436439
+      ],
+      "z_min": 0.7410409385847008,
+      "z_max": 0.7517402503840005
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        1.7774658545176063,
+        8.219876262489365,
+        0.8124741917038407
+      ],
+      "rotation_wxyz": [
+        0.21263818860858713,
+        -4.593044642592588e-05,
+        0.0005089894010010698,
+        0.9771308712580128
+      ],
+      "yaw_degrees_local": 155.3872827218101,
+      "yaw_radians": 2.7130445386525084,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7774658545176063,
+        8.219876262489365,
+        0.8839524384339088
+      ],
+      "z_min": 0.7411916518336301,
+      "z_max": 0.8841481452937661
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.208702423723792,
+        8.830854263233304,
+        0.8406101406884031
+      ],
+      "rotation_wxyz": [
+        0.9923780328324605,
+        -0.0004954440614888533,
+        0.00012535947581153103,
+        0.12322978037698483
+      ],
+      "yaw_degrees_local": 14.098370041805282,
+      "yaw_radians": 0.2470874898783421,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.208702423723792,
+        8.830854263233304,
+        0.9406988417804161
+      ],
+      "z_min": 0.7403906541242078,
+      "z_max": 0.9405680563082338
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.1992599163102686,
+        8.360323253817693,
+        0.7466855306619027
+      ],
+      "rotation_wxyz": [
+        0.9771194594686307,
+        -0.0005089869355935464,
+        -4.5957759251334025e-05,
+        -0.21269062214379633
+      ],
+      "yaw_degrees_local": -24.618866378383444,
+      "yaw_radians": -0.42865543693570385,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1992599163102686,
+        8.360323253817693,
+        0.7525165816866889
+      ],
+      "z_min": 0.740995729932578,
+      "z_max": 0.7526578319821504
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.59284151818916,
+        8.303648724784093,
+        0.793554591150266
+      ],
+      "rotation_wxyz": [
+        0.9278120575266033,
+        -0.0004468755293992662,
+        0.00024795579740033956,
+        0.37304761723999114
+      ],
+      "yaw_degrees_local": 43.74868551824457,
+      "yaw_radians": 0.7645830402263005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.59284151818916,
+        8.303648724784093,
+        0.8461036200094841
+      ],
+      "z_min": 0.7408766672579234,
+      "z_max": 0.8459747249763597
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.7551718628256374,
+        8.474899422442036,
+        0.7996808459957031
+      ],
+      "rotation_wxyz": [
+        0.7119730523946898,
+        -0.00040553806526356494,
+        -0.0003109962923614962,
+        -0.7022066017091924
+      ],
+      "yaw_degrees_local": -89.26734348427202,
+      "yaw_radians": -1.5569842969680263,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7551718628256374,
+        8.474899422442036,
+        0.8588071240282232
+      ],
+      "z_min": 0.740682415154997,
+      "z_max": 0.8589349712200373
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.469345401320193,
+        8.73857122062139,
+        0.8353247203080447
+      ],
+      "rotation_wxyz": [
+        0.4716357674034867,
+        -0.00029503610877586986,
+        -0.0004172930753783313,
+        -0.8817933100936456
+      ],
+      "yaw_degrees_local": -123.77764196548455,
+      "yaw_radians": -2.159302911656421,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.469345401320193,
+        8.73857122062139,
+        0.9302215663722483
+      ],
+      "z_min": 0.74045122400563,
+      "z_max": 0.9302449161340373
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        2.3929037266780675,
+        8.855807247281762,
+        0.754567797733325
+      ],
+      "rotation_wxyz": [
+        0.06579491916043198,
+        2.9847611959505355e-05,
+        0.0005101851980414832,
+        0.9978330358496136
+      ],
+      "yaw_degrees_local": 172.39629586334576,
+      "yaw_radians": 3.0099076750473004,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3929037266780675,
+        8.855807247281762,
+        0.7686597230249193
+      ],
+      "z_min": 0.7404686636279951,
+      "z_max": 0.7686525142111836
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.695314794139197,
+        8.21300055173862,
+        0.8710335266734655
+      ],
+      "rotation_wxyz": [
+        0.09505640611752351,
+        -0.0001112682972752208,
+        -0.0004987977368250438,
+        -0.9954717567446123
+      ],
+      "yaw_degrees_local": -169.14957631677092,
+      "yaw_radians": -2.951192498697185,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.695314794139197,
+        8.21300055173862,
+        1.0012006761882346
+      ],
+      "z_min": 0.7410823635578292,
+      "z_max": 1.0014166625873675
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.010740975926492,
+        8.48916831577904,
+        0.7883120080590116
+      ],
+      "rotation_wxyz": [
+        0.17715125916196908,
+        -0.00015218479025182273,
+        -0.0004878725303358669,
+        -0.9841835043311348
+      ],
+      "yaw_degrees_local": -159.65096277727176,
+      "yaw_radians": -2.78541047841549,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.010740975926492,
+        8.48916831577904,
+        0.835764533797992
+      ],
+      "z_min": 0.740888958485583,
+      "z_max": 0.8357940099635439
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.1003442780338384,
+        8.29641494037987,
+        0.7776019463017995
+      ],
+      "rotation_wxyz": [
+        0.4146544638987869,
+        -0.0002679255465985324,
+        -0.00043519618302575937,
+        -0.9099787988678604
+      ],
+      "yaw_degrees_local": -131.06358696762786,
+      "yaw_radians": -2.286466673701964,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1003442780338384,
+        8.29641494037987,
+        0.8142121593709781
+      ],
+      "z_min": 0.7409463955775147,
+      "z_max": 0.8141668217158721
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.3974501053354,
+        8.744560585466171,
+        0.7458176746039937
+      ],
+      "rotation_wxyz": [
+        0.9230544427031917,
+        -0.0004437266464990793,
+        0.0002535477852930167,
+        0.3846689935855034
+      ],
+      "yaw_degrees_local": 45.1876808569929,
+      "yaw_radians": 0.7896982498249722,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3974501053354,
+        8.744560585466171,
+        0.7511531152989945
+      ],
+      "z_min": 0.7404542118571836,
+      "z_max": 0.7511250932471852
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.7165477535073452,
+        8.440459718674104,
+        0.8016501326470851
+      ],
+      "rotation_wxyz": [
+        0.15024368759739187,
+        -0.0001388224142301145,
+        -0.0004918415939584971,
+        -0.9886488624164402
+      ],
+      "yaw_degrees_local": -162.77661040388676,
+      "yaw_radians": -2.8399633031948155,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7165477535073452,
+        8.440459718674104,
+        0.8622769991023447
+      ],
+      "z_min": 0.7409756418450028,
+      "z_max": 0.862229374755522
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.1644760161756884,
+        8.864136014888983,
+        0.8166387172705841
+      ],
+      "rotation_wxyz": [
+        0.9602443690918739,
+        -0.0005046402001985565,
+        -8.073465540815452e-05,
+        -0.2791603310779183
+      ],
+      "yaw_degrees_local": -32.47890886015483,
+      "yaw_radians": -0.5658390051238505,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1644760161756884,
+        8.864136014888983,
+        0.8928246557926702
+      ],
+      "z_min": 0.7404891907833818,
+      "z_max": 0.8928610678275541
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.6474988245902327,
+        8.391848442567145,
+        0.7464700633087655
+      ],
+      "rotation_wxyz": [
+        0.7069537455264269,
+        -0.00040331280479266585,
+        -0.0003138767237795527,
+        -0.7072595990909845
+      ],
+      "yaw_degrees_local": -90.08349326860095,
+      "yaw_radians": -1.5712288050807157,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6474988245902327,
+        8.391848442567145,
+        0.7523011143335517
+      ],
+      "z_min": 0.7407802625794409,
+      "z_max": 0.7524423646290133
+    }
+  ],
+  "variant_index": 77
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0078/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0078/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..15833d01e3156242f6f451c26f27c48d117d79dd
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0078/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7600226488269965197
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.199167751, -0.000163082478, -0.000484338644, -0.979965278)
+            double3 xformOp:translate = (2.40180575111, 8.89751476987, 0.740425227255)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.71324219, -0.000317292992, 0.00040063072, 0.700917482)
+            double3 xformOp:translate = (1.8228460103, 8.36071759414, 0.741043019071)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.87838638, -0.000475722201, -0.000186730296, -0.477950945)
+            double3 xformOp:translate = (3.40399237411, 8.5473971159, 0.781216899313)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.7291933, -0.0003264343, 0.000393218087, 0.684307584)
+            double3 xformOp:translate = (3.58527425929, 8.55721933313, 0.825030581845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.649853876, 0, 0, 0.760059168)
+            double3 xformOp:translate = (4.85756613238, 8.12779170555, 0.925497350056)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.760170246, -0.000426654813, -0.000281328076, -0.649723738)
+            double3 xformOp:translate = (2.16763869386, 8.25964056211, 0.787678772693)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900965065, -0.000484381012, -0.000162956593, -0.433891335)
+            double3 xformOp:translate = (3.27735709983, 8.49380225808, 0.786736383011)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96703615, -0.000474267967, 0.00019039357, 0.254638614)
+            double3 xformOp:translate = (1.97700811347, 8.31505851769, 0.771661812178)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.196483615, -0.000161755626, -0.000484783388, -0.980506975)
+            double3 xformOp:translate = (2.29203530097, 8.85014579836, 0.740487178429)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.117822539, 3.15958837e-06, 0.00051104778, 0.993034535)
+            double3 xformOp:translate = (3.27832672634, 8.28643718226, 0.744443375254)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.498107146, -0.00030753031, -0.000408172666, -0.867115338)
+            double3 xformOp:translate = (2.8236969813, 8.30081515281, 0.775943086367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994082819, -0.000510996624, 7.89092223e-06, -0.108623608)
+            double3 xformOp:translate = (3.00927834307, 8.29121626651, 0.788543015215)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.766889423, -0.000429558915, -0.000276873536, -0.641779053)
+            double3 xformOp:translate = (1.95849430695, 8.8304906845, 0.752128107364)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.374288481, -0.000248553391, -0.000446543422, -0.927312176)
+            double3 xformOp:translate = (3.64472289995, 8.75962467477, 0.743528531759)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.821448779, -0.000452697462, -0.000237159912, -0.570282073)
+            double3 xformOp:translate = (3.45202057428, 8.35757884848, 0.753908284818)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997994325, -0.000502088669, 9.53246261e-05, 0.0633013862)
+            double3 xformOp:translate = (3.12993386198, 8.24573965291, 0.817143590168)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0468916799, -8.70603676e-05, -0.000503587439, -0.998899849)
+            double3 xformOp:translate = (1.99252822086, 8.47285836783, 0.813680040179)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993297413, -0.000511039366, 4.31072413e-06, -0.115585413)
+            double3 xformOp:translate = (3.43189508607, 8.73491241059, 0.75297619276)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.017057041, -7.19912167e-05, -0.000505961541, -0.999854387)
+            double3 xformOp:translate = (2.48520665724, 8.28303370833, 0.788416096266)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.774101196, -0.000352454267, 0.000370075406, 0.63306167)
+            double3 xformOp:translate = (2.67931532367, 8.29234815192, 0.748421833506)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.678502385, 0, 0, 0.734598198)
+            double3 xformOp:translate = (5.01248244179, 8.43991786487, 0.925889829626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.406114855, -0.000263838437, -0.000437686069, -0.913821899)
+            double3 xformOp:translate = (3.20929873733, 8.57754421107, 0.745900591839)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0998024732, -0.00011364567, -0.000498261455, -0.995007138)
+            double3 xformOp:translate = (2.30632810982, 8.35940930388, 0.841240146106)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.707533497, -0.000314032987, 0.000403191145, 0.706679623)
+            double3 xformOp:translate = (1.81459821032, 8.61524330423, 0.813558172727)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.256304812, 0, 0, 0.966596008)
+            double3 xformOp:translate = (4.95301680292, 8.39107330893, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.259102563, 0, 0, 0.965849813)
+            double3 xformOp:translate = (4.84386710939, 8.75220129693, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956650868, -0.000466682912, 0.000208295166, 0.29123677)
+            double3 xformOp:translate = (1.88148621013, 8.75435096036, 0.870587584663)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94339538, -0.000499422316, -0.000108430468, -0.33166986)
+            double3 xformOp:translate = (3.63028261452, 8.2733022817, 0.749069829886)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.731475051, -0.000414139379, -0.000299446808, -0.681868014)
+            double3 xformOp:translate = (1.71686512794, 8.75741681329, 0.774723762465)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.691563528, -0.000304943823, 0.000410108621, 0.722315461)
+            double3 xformOp:translate = (2.3159258066, 8.1998277202, 0.800142186655)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0078/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0078/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..6011e2ab653c454382d3f6325221bae42fa6f928
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0078/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7600226488269965197,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 7,
+    "small object": 5,
+    "book": 2,
+    "clock": 2,
+    "paper goods": 1,
+    "office_supplies": 1,
+    "writing_instrument": 2,
+    "drinkware/container": 2,
+    "stationery": 1
+  },
+  "failed_sampling_attempt_count": 149,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.4018057511068025,
+        8.897514769865879,
+        0.7404252272552602
+      ],
+      "rotation_wxyz": [
+        0.19916775107691292,
+        -0.00016308247766013448,
+        -0.00048433864363742895,
+        -0.9799652778293468
+      ],
+      "yaw_degrees_local": -157.08211616064295,
+      "yaw_radians": -2.7405756595125457,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4018057511068025,
+        8.897514769865879,
+        0.7904253211325757
+      ],
+      "z_min": 0.7404252272552602,
+      "z_max": 0.8404254150098912
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.822846010302769,
+        8.360717594144344,
+        0.7410430190714377
+      ],
+      "rotation_wxyz": [
+        0.7132421900348536,
+        -0.00031729299165576076,
+        0.00040063071984865314,
+        0.700917482428902
+      ],
+      "yaw_degrees_local": 88.9426246272892,
+      "yaw_radians": 1.5533663906229631,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.822846010302769,
+        8.360717594144344,
+        0.9185430137070196
+      ],
+      "z_min": 0.7410430190714377,
+      "z_max": 1.0960430083426016
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.403992374112754,
+        8.547397115897418,
+        0.7812168993131072
+      ],
+      "rotation_wxyz": [
+        0.8783863804302376,
+        -0.0004757222014475022,
+        -0.0001867302955876595,
+        -0.4779509446531618
+      ],
+      "yaw_degrees_local": -57.162039129082274,
+      "yaw_radians": -0.9966408425955204,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.403992374112754,
+        8.547397115897418,
+        0.8217669084526388
+      ],
+      "z_min": 0.7406533708665423,
+      "z_max": 0.8217533891456053
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.5852742592861273,
+        8.55721933312638,
+        0.8250305818452923
+      ],
+      "rotation_wxyz": [
+        0.7291933000467808,
+        -0.00032643430013656687,
+        0.0003932180869882035,
+        0.6843075843413321
+      ],
+      "yaw_degrees_local": 86.30365739567236,
+      "yaw_radians": 1.507307699865474,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5852742592861273,
+        8.55721933312638,
+        0.9094407039399959
+      ],
+      "z_min": 0.7406204631435136,
+      "z_max": 0.9094407073329206
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        4.85756613237955,
+        8.127791705553499,
+        0.9254973500556251
+      ],
+      "rotation_wxyz": [
+        -0.6498538763500976,
+        0.0,
+        0.0,
+        0.7600591683499069
+      ],
+      "yaw_degrees_local": 171.06117136572976,
+      "yaw_radians": -1.7268083177344606,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.85756613237955,
+        8.127791705553499,
+        0.9308470059552749
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308993406956315
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.1676386938594874,
+        8.25964056211234,
+        0.7876787726926637
+      ],
+      "rotation_wxyz": [
+        0.7601702463270139,
+        -0.00042665481338900247,
+        -0.00028132807618918535,
+        -0.6497237377680692
+      ],
+      "yaw_degrees_local": -81.10027545576853,
+      "yaw_radians": -1.4144420018406605,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1676386938594874,
+        8.25964056211234,
+        0.8340459408285487
+      ],
+      "z_min": 0.7411018733603049,
+      "z_max": 0.8338362096320747
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.277357099827781,
+        8.493802258084742,
+        0.7867363830110108
+      ],
+      "rotation_wxyz": [
+        0.9009650648369888,
+        -0.00048438101236879407,
+        -0.00016295659267699102,
+        -0.43389133520210377
+      ],
+      "yaw_degrees_local": -51.48825517994939,
+      "yaw_radians": -0.8976146277718797,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.277357099827781,
+        8.493802258084742,
+        0.8329347975118906
+      ],
+      "z_min": 0.740723776173394,
+      "z_max": 0.8331206051751537
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        1.97700811346516,
+        8.315058517686898,
+        0.7716618121781837
+      ],
+      "rotation_wxyz": [
+        0.9670361497995371,
+        -0.00047426796718203596,
+        0.0001903935701260205,
+        0.25463861412022964
+      ],
+      "yaw_degrees_local": 29.445638325413228,
+      "yaw_radians": 0.5149477791528311,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.97700811346516,
+        8.315058517686898,
+        0.8022642136835765
+      ],
+      "z_min": 0.7410698114448082,
+      "z_max": 0.8022746144555938
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.2920353009669276,
+        8.850145798357504,
+        0.7404871784293945
+      ],
+      "rotation_wxyz": [
+        0.19648361535291944,
+        -0.00016175562640617246,
+        -0.0004847833882944623,
+        -0.9805069748441517
+      ],
+      "yaw_degrees_local": -157.39589678635116,
+      "yaw_radians": -2.7460521631246233,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2920353009669276,
+        8.850145798357504,
+        0.79048727230671
+      ],
+      "z_min": 0.7404871784293945,
+      "z_max": 0.8404873661840255
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.2783267263424154,
+        8.286437182262782,
+        0.7444433752537867
+      ],
+      "rotation_wxyz": [
+        0.1178225385688325,
+        3.1595883714246892e-06,
+        0.000511047779803059,
+        0.9930345352631902
+      ],
+      "yaw_degrees_local": 166.40838441380646,
+      "yaw_radians": 2.9053989590393683,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2783267263424154,
+        8.286437182262782,
+        0.7480236547351118
+      ],
+      "z_min": 0.7409339474510345,
+      "z_max": 0.7480945064136846
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.8236969812954666,
+        8.300815152811237,
+        0.7759430863673676
+      ],
+      "rotation_wxyz": [
+        0.498107145726426,
+        -0.00030753030962438026,
+        -0.00040817266555055525,
+        -0.8671153384622238
+      ],
+      "yaw_degrees_local": -120.3090046540035,
+      "yaw_radians": -2.098763749584197,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8236969812954666,
+        8.300815152811237,
+        0.811056160710553
+      ],
+      "z_min": 0.7409769833804367,
+      "z_max": 0.8112031320668075
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.0092783430693,
+        8.291216266512837,
+        0.7885430152145133
+      ],
+      "rotation_wxyz": [
+        0.9940828187970027,
+        -0.0005109966238506129,
+        7.890922226700294e-06,
+        -0.10862360789805071
+      ],
+      "yaw_degrees_local": -12.530669412222323,
+      "yaw_radians": -0.21767670009703724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0092783430693,
+        8.291216266512837,
+        0.8359419406426137
+      ],
+      "z_min": 0.7409632121022136,
+      "z_max": 0.8357610629584146
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        1.958494306946747,
+        8.83049068450116,
+        0.7521281073636792
+      ],
+      "rotation_wxyz": [
+        0.7668894226628442,
+        -0.000429558914790744,
+        -0.00027687353604870035,
+        -0.6417790525001837
+      ],
+      "yaw_degrees_local": -79.90793742793745,
+      "yaw_radians": -1.3936317683786181,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.958494306946747,
+        8.83049068450116,
+        0.7636408617871296
+      ],
+      "z_min": 0.740549379344228,
+      "z_max": 0.7635748881911288
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.6447228999536603,
+        8.759624674774287,
+        0.7435285317590138
+      ],
+      "rotation_wxyz": [
+        0.3742884805545092,
+        -0.0002485533912333701,
+        -0.00044654342224099985,
+        -0.9273121762084119
+      ],
+      "yaw_degrees_local": -136.0980175348908,
+      "yaw_radians": -2.3743340766166496,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6447228999536603,
+        8.759624674774287,
+        0.7465410482441732
+      ],
+      "z_min": 0.7404076024615484,
+      "z_max": 0.7464326354318671
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.452020574278956,
+        8.35757884847736,
+        0.7539082848178479
+      ],
+      "rotation_wxyz": [
+        0.8214487786539328,
+        -0.00045269746225904827,
+        -0.00023715991209420322,
+        -0.5702820730727436
+      ],
+      "yaw_degrees_local": -69.59851662592136,
+      "yaw_radians": -1.2136983651368192,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.452020574278956,
+        8.35757884847736,
+        0.767135934408015
+      ],
+      "z_min": 0.7408397910721372,
+      "z_max": 0.7672950902524712
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.1299338619824604,
+        8.245739652913704,
+        0.8171435901684936
+      ],
+      "rotation_wxyz": [
+        0.9979943252959437,
+        -0.0005020886693626952,
+        9.532462608324673e-05,
+        0.06330138621924565
+      ],
+      "yaw_degrees_local": 7.199948233176286,
+      "yaw_radians": 0.12668736710419246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1299338619824604,
+        8.245739652913704,
+        0.8933295286905797
+      ],
+      "z_min": 0.7409940636812913,
+      "z_max": 0.8933659407254636
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.9925282208576598,
+        8.472858367825854,
+        0.8136800401793477
+      ],
+      "rotation_wxyz": [
+        0.046891679942696864,
+        -8.7060367638793e-05,
+        -0.0005035874389089851,
+        -0.998899849420519
+      ],
+      "yaw_degrees_local": -174.68334786063707,
+      "yaw_radians": -3.047774988800015,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9925282208576598,
+        8.472858367825854,
+        0.8865424847860914
+      ],
+      "z_min": 0.7409078213774712,
+      "z_max": 0.8866327105909586
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.4318950860658086,
+        8.734912410592838,
+        0.7529761927599136
+      ],
+      "rotation_wxyz": [
+        0.9932974132768844,
+        -0.0005110393662897128,
+        4.310724129580935e-06,
+        -0.11558541256419229
+      ],
+      "yaw_degrees_local": -13.333495941684248,
+      "yaw_radians": -0.23168865918652995,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4318950860658086,
+        8.734912410592838,
+        0.765544859018943
+      ],
+      "z_min": 0.7404596368654309,
+      "z_max": 0.7655969693834896
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.24223360960676052,
+        0.16745497491389888,
+        0.09493466547313689
+      ],
+      "bbox_min_m": [
+        -0.12108198546656723,
+        -0.08364467007205444,
+        -0.047378184785108
+      ],
+      "bbox_max_m": [
+        0.12115162414019334,
+        0.08381030484184444,
+        0.04755648068802887
+      ],
+      "translation_world": [
+        2.4852066572423746,
+        8.283033708327341,
+        0.788416096265582
+      ],
+      "rotation_wxyz": [
+        0.017057041003358947,
+        -7.199121668931591e-05,
+        -0.0005059615409889418,
+        -0.9998543874846946
+      ],
+      "yaw_degrees_local": -178.10402245154427,
+      "yaw_radians": -3.1074769940662095,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4852066572423746,
+        8.283033708327341,
+        0.8358834290021504
+      ],
+      "z_min": 0.7410379114804739,
+      "z_max": 0.8359725769536108
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.6793153236702714,
+        8.292348151920448,
+        0.7484218335058535
+      ],
+      "rotation_wxyz": [
+        0.7741011958178001,
+        -0.0003524542672056926,
+        0.00037007540551732267,
+        0.6330616695501599
+      ],
+      "yaw_degrees_local": 78.49404166580462,
+      "yaw_radians": 1.3710041210922068,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6793153236702714,
+        8.292348151920448,
+        0.7559617361489529
+      ],
+      "z_min": 0.7410038498129417,
+      "z_max": 0.7560836550991406
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        5.012482441785018,
+        8.439917864872745,
+        0.9258898296256565
+      ],
+      "rotation_wxyz": [
+        0.678502385244426,
+        0.0,
+        0.0,
+        0.7345981984851478
+      ],
+      "yaw_degrees_local": 4.546550599985409,
+      "yaw_radians": 1.6501486043731657,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        5.012482441785018,
+        8.439917864872745,
+        0.9317208806504427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318621309459042
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.2092987373315767,
+        8.577544211074287,
+        0.7459005918388316
+      ],
+      "rotation_wxyz": [
+        0.40611485456194313,
+        -0.0002638384369484037,
+        -0.00043768606949380487,
+        -0.9138218993459917
+      ],
+      "yaw_degrees_local": -132.13668667314175,
+      "yaw_radians": -2.305195800296445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2092987373315767,
+        8.577544211074287,
+        0.7511365071569651
+      ],
+      "z_min": 0.7406474441697505,
+      "z_max": 0.7511192748060175
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.3063281098212265,
+        8.359409303877877,
+        0.8412401461063314
+      ],
+      "rotation_wxyz": [
+        0.09980247317141532,
+        -0.00011364566977342276,
+        -0.0004982614554448927,
+        -0.9950071382503006
+      ],
+      "yaw_degrees_local": -168.6031166746682,
+      "yaw_radians": -2.9416549827124956,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3063281098212265,
+        8.359409303877877,
+        0.9414570261689814
+      ],
+      "z_min": 0.7409831406280528,
+      "z_max": 0.9414169007533528
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.814598210315724,
+        8.615243304233566,
+        0.8135581727269606
+      ],
+      "rotation_wxyz": [
+        0.7075334966619031,
+        -0.00031403298740316716,
+        0.00040319114457407776,
+        0.7066796232533982
+      ],
+      "yaw_degrees_local": 89.8721015129521,
+      "yaw_radians": 1.569588830849552,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.814598210315724,
+        8.615243304233566,
+        0.8864206173337044
+      ],
+      "z_min": 0.7407859539250842,
+      "z_max": 0.8865108431385715
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.953016802917587,
+        8.391073308928757,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        -0.25630481218617457,
+        0.0,
+        0.0,
+        0.9665960082941631
+      ],
+      "yaw_degrees_local": 119.70183032147031,
+      "yaw_radians": -2.6231979206114504,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.953016802917587,
+        8.391073308928757,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.843867109388989,
+        8.752201296931881,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.25910256292031647,
+        0.0,
+        0.0,
+        0.9658498133188842
+      ],
+      "yaw_degrees_local": 120.03363615096237,
+      "yaw_radians": -2.6174068164095035,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.843867109388989,
+        8.752201296931881,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.8814862101324046,
+        8.754350960364247,
+        0.870587584663222
+      ],
+      "rotation_wxyz": [
+        0.9566508677696722,
+        -0.00046668291190266775,
+        0.00020829516551845232,
+        0.29123676968356366
+      ],
+      "yaw_degrees_local": 33.80532239785509,
+      "yaw_radians": 0.5910386120434784,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8814862101324046,
+        8.754350960364247,
+        1.000754734177991
+      ],
+      "z_min": 0.7406364215475858,
+      "z_max": 1.000970720577124
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.6302826145241696,
+        8.273302281698262,
+        0.7490698298856349
+      ],
+      "rotation_wxyz": [
+        0.9433953798665472,
+        -0.0004994223161238145,
+        -0.00010843046803291626,
+        -0.3316698600515837
+      ],
+      "yaw_degrees_local": -38.799036827898846,
+      "yaw_radians": -0.6761460159218641,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6302826145241696,
+        8.273302281698262,
+        0.7573058366377756
+      ],
+      "z_min": 0.7409026785174718,
+      "z_max": 0.7573746920217532
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.7168651279430525,
+        8.757416813293917,
+        0.7747237624654149
+      ],
+      "rotation_wxyz": [
+        0.7314750510280931,
+        -0.00041413937936169787,
+        -0.00029944680780101876,
+        -0.6818680140200394
+      ],
+      "yaw_degrees_local": -86.03830290217024,
+      "yaw_radians": -1.5006268793184954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7168651279430525,
+        8.757416813293917,
+        0.8087223186360937
+      ],
+      "z_min": 0.7406541196517891,
+      "z_max": 0.8086512319931467
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.3159258066003523,
+        8.19982772019547,
+        0.8001421866550859
+      ],
+      "rotation_wxyz": [
+        0.6915635279279785,
+        -0.0003049438225954947,
+        0.0004101086213445897,
+        0.7223154613186624
+      ],
+      "yaw_degrees_local": 92.43326838199113,
+      "yaw_radians": 1.6142896477690831,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3159258066003523,
+        8.19982772019547,
+        0.859268464687606
+      ],
+      "z_min": 0.7411437558143797,
+      "z_max": 0.85939631187942
+    }
+  ],
+  "variant_index": 78
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0079/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0079/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..79fba941ab6778410aa47068250497104dc966fa
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0079/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8487620403196017046
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.942497832, -0.000456783185, 0.000229191924, 0.334211873)
+            double3 xformOp:translate = (3.69991653213, 8.52509010518, 0.740638477249)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.870434487, -0.000410224758, 0.000304787572, 0.492284006)
+            double3 xformOp:translate = (1.90564599959, 8.87801136291, 0.740507872235)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.621378885, -0.000265475359, 0.000436695145, 0.783510064)
+            double3 xformOp:translate = (3.4686314149, 8.62873146959, 0.753631168492)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.747450172, 0, 0, 0.664317876)
+            double3 xformOp:translate = (4.97206022043, 8.37527303202, 0.920200028896)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985411029, -0.000510499324, -2.38800489e-05, -0.170190609)
+            double3 xformOp:translate = (1.92823316015, 8.58237028033, 0.748972014749)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.558524906, -0.000230688402, 0.000456029251, 0.829487594)
+            double3 xformOp:translate = (1.86968205339, 8.25520031487, 0.75272283798)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.859718475, -0.000468334383, -0.000204554937, -0.510767934)
+            double3 xformOp:translate = (2.70488916275, 8.2105338563, 0.74702384016)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.39927162, -0.000260558849, -0.000439646338, -0.916832543)
+            double3 xformOp:translate = (1.73209451463, 8.82195166916, 0.746237158169)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.777112295, -0.000354215635, 0.000368389875, 0.629361756)
+            double3 xformOp:translate = (3.39094242522, 8.26894335585, 0.755268285435)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.845377328, -0.000394864413, 0.000324440922, 0.534169366)
+            double3 xformOp:translate = (2.53894665546, 8.26270814705, 0.752859077513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.286711529, -8.47051044e-05, 0.00050398895, 0.958016826)
+            double3 xformOp:translate = (1.88010202263, 8.39923443466, 0.748414687219)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995208326, -0.000498491866, 0.000112630705, 0.0977758959)
+            double3 xformOp:translate = (3.01612830462, 8.90520838162, 0.748035781533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.796328271, -0.00036551228, 0.000357184252, 0.604864467)
+            double3 xformOp:translate = (3.16147574695, 8.23201909953, 0.746301267265)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.292842644, -8.79318893e-05, 0.000503435993, 0.956160512)
+            double3 xformOp:translate = (3.60280301585, 8.26667971128, 0.746166023184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992526423, -0.000495595393, 0.000124759861, 0.122028841)
+            double3 xformOp:translate = (2.16553705171, 8.23240712533, 0.746211952091)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.401104877, -0.000145375558, 0.000489944653, 0.916031995)
+            double3 xformOp:translate = (1.97509398996, 8.24601460263, 0.800138526206)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.25396892, -0.000190065113, -0.000474399693, -0.967212245)
+            double3 xformOp:translate = (3.43624640846, 8.45788757637, 0.818699888999)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99846159, -0.000502823307, 9.13703327e-05, 0.0554454021)
+            double3 xformOp:translate = (2.51065630587, 8.8606121945, 0.745531079299)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.367030669, -0.000245056335, -0.000448472082, -0.930208701)
+            double3 xformOp:translate = (2.74581518202, 8.84770971724, 0.787955982943)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.209944575, -4.45275839e-05, 0.000509114045, 0.977713155)
+            double3 xformOp:translate = (3.71723977563, 8.7790030152, 0.793056710135)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.758345453, -0.000425864301, -0.000282523297, -0.651852677)
+            double3 xformOp:translate = (1.82710969362, 8.56603472259, 0.746524043321)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.803241533, -0.000445071554, -0.000251179473, -0.595653237)
+            double3 xformOp:translate = (2.94520840559, 8.32652333444, 0.787147521012)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997183548, -0.00050093652, 0.000101204838, 0.074998071)
+            double3 xformOp:translate = (3.53242633403, 8.801113999, 0.793057700534)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0302025806, 4.80054242e-05, 0.000508797893, 0.999543667)
+            double3 xformOp:translate = (3.24562280342, 8.8970180566, 0.743828248108)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952712679, -0.000502386268, -9.37435545e-05, -0.303872159)
+            double3 xformOp:translate = (3.22880282014, 8.39520618876, 0.746127227252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.30104468, -0.000213076266, -0.000464519452, -0.953609899)
+            double3 xformOp:translate = (2.18963401807, 8.86655269662, 0.818443354871)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.680942831, -0.000391710884, -0.000328241374, -0.732336398)
+            double3 xformOp:translate = (1.979824293, 8.7616114361, 0.816766096578)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.921707113, -0.000491985188, -0.000138312656, -0.387886242)
+            double3 xformOp:translate = (2.0502337897, 8.3442529128, 0.817180474059)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0585911897, -9.29542302e-05, -0.000502532912, -0.99828193)
+            double3 xformOp:translate = (1.70410745531, 8.42605193039, 0.787004430066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.134826028, 0, 0, 0.990869286)
+            double3 xformOp:translate = (4.89509776068, 8.1638899196, 0.956855579621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0079/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0079/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..67eda834b9b95a9094b7db895591ac0b2a37fbf4
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0079/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8487620403196017046,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 5,
+    "stationery": 1,
+    "electronics": 6,
+    "office_supply": 1,
+    "writing_instrument": 2,
+    "small object": 1,
+    "small prop": 2,
+    "office_supplies": 1,
+    "decorative_object": 1,
+    "clock": 2,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 132,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.6999165321335377,
+        8.525090105178485,
+        0.7406384772485181
+      ],
+      "rotation_wxyz": [
+        0.9424978315361174,
+        -0.0004567831852104304,
+        0.00022919192383093765,
+        0.33421187347235337
+      ],
+      "yaw_degrees_local": 38.990533909831356,
+      "yaw_radians": 0.6815376229963133,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6999165321335377,
+        8.525090105178485,
+        0.7631354889623011
+      ],
+      "z_min": 0.7406384802434526,
+      "z_max": 0.7856325036710187
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.905645999585749,
+        8.878011362911522,
+        0.740507872234585
+      ],
+      "rotation_wxyz": [
+        0.8704344871769785,
+        -0.0004102247579059601,
+        0.0003047875723209676,
+        0.4922840057864307
+      ],
+      "yaw_degrees_local": 58.92292507127462,
+      "yaw_radians": 1.0294235440519477,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.905645999585749,
+        8.878011362911522,
+        0.7905079661119006
+      ],
+      "z_min": 0.740507872234585,
+      "z_max": 0.8405080599892161
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.4686314148954382,
+        8.62873146959056,
+        0.7536311684924177
+      ],
+      "rotation_wxyz": [
+        0.6213788851450391,
+        -0.00026547535902735124,
+        0.00043669514536986964,
+        0.7835100636980308
+      ],
+      "yaw_degrees_local": 103.10748163770023,
+      "yaw_radians": 1.8005898980171464,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4686314148954382,
+        8.62873146959056,
+        0.7668588180825848
+      ],
+      "z_min": 0.740562674746707,
+      "z_max": 0.7670179739270411
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        4.972060220429616,
+        8.375273032015567,
+        0.9202000288963318
+      ],
+      "rotation_wxyz": [
+        0.7474501723641369,
+        0.0,
+        0.0,
+        0.6643178755933203
+      ],
+      "yaw_degrees_local": -6.7399681415866155,
+      "yaw_radians": 1.4531616912446872,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.972060220429616,
+        8.375273032015567,
+        1.0702000348567964
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2202000408172609
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        1.9282331601514051,
+        8.582370280327183,
+        0.7489720147493012
+      ],
+      "rotation_wxyz": [
+        0.9854110287080435,
+        -0.0005104993237055815,
+        -2.3880048920731163e-05,
+        -0.170190608791259
+      ],
+      "yaw_degrees_local": -19.65651627498545,
+      "yaw_radians": -0.3420461281586655,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9282331601514051,
+        8.582370280327183,
+        0.7572080215014418
+      ],
+      "z_min": 0.7408048633811382,
+      "z_max": 0.7572768768854196
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        1.8696820533910896,
+        8.255200314867807,
+        0.7527228379799283
+      ],
+      "rotation_wxyz": [
+        0.5585249055206932,
+        -0.0002306884015007074,
+        0.00045602925087472295,
+        0.8294875940803965
+      ],
+      "yaw_degrees_local": 112.03358671421057,
+      "yaw_radians": 1.9563798736188918,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8696820533910896,
+        8.255200314867807,
+        0.7642355924033788
+      ],
+      "z_min": 0.7411441099604772,
+      "z_max": 0.764169618807378
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.7048891627460736,
+        8.21053385629972,
+        0.7470238401604676
+      ],
+      "rotation_wxyz": [
+        0.8597184749145149,
+        -0.00046833438282649955,
+        -0.00020455493663765336,
+        -0.5107679343017185
+      ],
+      "yaw_degrees_local": -61.48870932516459,
+      "yaw_radians": -1.0721554928935177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7048891627460736,
+        8.21053385629972,
+        0.75284105292704
+      ],
+      "z_min": 0.741083587498158,
+      "z_max": 0.7527180130313026
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.7320945146288327,
+        8.821951669159422,
+        0.7462371581687844
+      ],
+      "rotation_wxyz": [
+        0.3992716195297358,
+        -0.0002605588492095924,
+        -0.0004396463377976501,
+        -0.9168325434114378
+      ],
+      "yaw_degrees_local": -132.99340031634048,
+      "yaw_radians": -2.3201482766892525,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7320945146288327,
+        8.821951669159422,
+        0.7518860093820665
+      ],
+      "z_min": 0.7405867218989975,
+      "z_max": 0.7518844243255618
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.3909424252226126,
+        8.268943355850869,
+        0.7552682854346072
+      ],
+      "rotation_wxyz": [
+        0.7771122946970113,
+        -0.0003542156350111755,
+        0.0003683898752055251,
+        0.6293617562665604
+      ],
+      "yaw_degrees_local": 77.94740120656172,
+      "yaw_radians": 1.3614634403343178,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3909424252226126,
+        8.268943355850869,
+        0.7694037683406492
+      ],
+      "z_min": 0.7409374273701436,
+      "z_max": 0.7692083931822273
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        2.5389466554625173,
+        8.262708147046876,
+        0.7528590775133984
+      ],
+      "rotation_wxyz": [
+        0.8453773283850019,
+        -0.00039486441252942726,
+        0.00032444092213853497,
+        0.5341693659063771
+      ],
+      "yaw_degrees_local": 64.51649378978266,
+      "yaw_radians": 1.1270497728434896,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5389466554625173,
+        8.262708147046876,
+        0.7645464024660651
+      ],
+      "z_min": 0.7410516988199993,
+      "z_max": 0.7644263487253327
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        1.880102022633372,
+        8.399234434663782,
+        0.7484146872192681
+      ],
+      "rotation_wxyz": [
+        0.28671152889322793,
+        -8.470510440399193e-05,
+        0.0005039889498076535,
+        0.9580168255411237
+      ],
+      "yaw_degrees_local": 146.61892092122469,
+      "yaw_radians": 2.5600078128574113,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.880102022633372,
+        8.399234434663782,
+        0.7559545898623675
+      ],
+      "z_min": 0.7409967035263563,
+      "z_max": 0.7560765088125552
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.0161283046153775,
+        8.90520838161705,
+        0.748035781533236
+      ],
+      "rotation_wxyz": [
+        0.9952083264320929,
+        -0.0004984918659535606,
+        0.00011263070548678063,
+        0.09777589590700109
+      ],
+      "yaw_degrees_local": 11.163513047516858,
+      "yaw_radians": 0.19586459285411945,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0161283046153775,
+        8.90520838161705,
+        0.7558906878770366
+      ],
+      "z_min": 0.7403395928110157,
+      "z_max": 0.7560494054986169
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        3.1614757469463908,
+        8.232019099532474,
+        0.746301267264799
+      ],
+      "rotation_wxyz": [
+        0.7963282710302677,
+        -0.00036551227981050774,
+        0.0003571842515397869,
+        0.6048644671148478
+      ],
+      "yaw_degrees_local": 74.37948027183512,
+      "yaw_radians": 1.2991914409389014,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1614757469463908,
+        8.232019099532474,
+        0.7516509231644488
+      ],
+      "z_min": 0.7410039461055057,
+      "z_max": 0.7517032579048054
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.6028030158521522,
+        8.266679711283137,
+        0.7461660231843467
+      ],
+      "rotation_wxyz": [
+        0.2928426442758217,
+        -8.793188932252896e-05,
+        0.0005034359930323647,
+        0.9561605118983573
+      ],
+      "yaw_degrees_local": 145.88484926139296,
+      "yaw_radians": 2.547195849462447,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6028030158521522,
+        8.266679711283137,
+        0.7514019385024802
+      ],
+      "z_min": 0.7409128755152655,
+      "z_max": 0.7513847061515325
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.165537051712527,
+        8.232407125325507,
+        0.746211952090514
+      ],
+      "rotation_wxyz": [
+        0.9925264231836152,
+        -0.0004955953927487947,
+        0.00012475986103903982,
+        0.12202884127337829
+      ],
+      "yaw_degrees_local": 13.959705969619677,
+      "yaw_radians": 0.24466734619777333,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.165537051712527,
+        8.232407125325507,
+        0.751341554786592
+      ],
+      "z_min": 0.741129738993449,
+      "z_max": 0.7513889443856049
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        1.9750939899627027,
+        8.2460146026311,
+        0.8001385262057885
+      ],
+      "rotation_wxyz": [
+        0.40110487714132276,
+        -0.0001453755584116945,
+        0.0004899446532587132,
+        0.9160319952674297
+      ],
+      "yaw_degrees_local": 132.64674728599488,
+      "yaw_radians": 2.316147429805314,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9750939899627027,
+        8.2460146026311,
+        0.8592648042383086
+      ],
+      "z_min": 0.7411400953650824,
+      "z_max": 0.8593926514301227
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.4362464084634112,
+        8.457887576370874,
+        0.8186998889994956
+      ],
+      "rotation_wxyz": [
+        0.2539689197203699,
+        -0.00019006511312881784,
+        -0.0004743996933089674,
+        -0.9672122448750595
+      ],
+      "yaw_degrees_local": -150.63371169239818,
+      "yaw_radians": -2.62802979329984,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4362464084634112,
+        8.457887576370874,
+        0.8966934134699939
+      ],
+      "z_min": 0.7407400872337359,
+      "z_max": 0.8967271361747323
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.510656305873768,
+        8.860612194499522,
+        0.7455310792991873
+      ],
+      "rotation_wxyz": [
+        0.9984615897479007,
+        -0.0005028233074845957,
+        9.137033266090451e-05,
+        0.05544540213830984
+      ],
+      "yaw_degrees_local": 6.298125347521989,
+      "yaw_radians": 0.11094759574845013,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.510656305873768,
+        8.860612194499522,
+        0.7506606819952653
+      ],
+      "z_min": 0.7404488662021222,
+      "z_max": 0.7507080715942781
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        2.745815182019928,
+        8.847709717243122,
+        0.7879559829432826
+      ],
+      "rotation_wxyz": [
+        0.367030668552873,
+        -0.0002450563353715716,
+        -0.00044847208244724494,
+        -0.9302087008633144
+      ],
+      "yaw_degrees_local": -136.9934903883542,
+      "yaw_radians": -2.389963027866867,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.745815182019928,
+        8.847709717243122,
+        0.8354794601435264
+      ],
+      "z_min": 0.740432179586425,
+      "z_max": 0.8354791339869126
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.7172397756266546,
+        8.77900301520183,
+        0.7930567101346753
+      ],
+      "rotation_wxyz": [
+        0.20994457478802975,
+        -4.4527583857533774e-05,
+        0.0005091140447052338,
+        0.9777131554485995
+      ],
+      "yaw_degrees_local": 155.70307795411048,
+      "yaw_radians": 2.7185562028469916,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7172397756266546,
+        8.77900301520183,
+        0.8456057389938934
+      ],
+      "z_min": 0.7403787862423327,
+      "z_max": 0.8454768439607689
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        1.8271096936187758,
+        8.566034722593555,
+        0.746524043321193
+      ],
+      "rotation_wxyz": [
+        0.7583454532554007,
+        -0.0004258643011552997,
+        -0.00028252329681252976,
+        -0.6518526768734211
+      ],
+      "yaw_degrees_local": -81.42158697251135,
+      "yaw_radians": -1.420049948221037,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8271096936187758,
+        8.566034722593555,
+        0.7523550943459792
+      ],
+      "z_min": 0.7408342425918684,
+      "z_max": 0.7524963446414408
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.945208405589063,
+        8.326523334440008,
+        0.7871475210124429
+      ],
+      "rotation_wxyz": [
+        0.8032415325813309,
+        -0.00044507155430628204,
+        -0.0002511794732610586,
+        -0.5956532373424817
+      ],
+      "yaw_degrees_local": -73.17714937397486,
+      "yaw_radians": -1.2761573095699819,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.945208405589063,
+        8.326523334440008,
+        0.8333401209185254
+      ],
+      "z_min": 0.7409355195562121,
+      "z_max": 0.8333207193683769
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.532426334032604,
+        8.801113998996316,
+        0.7930577005335554
+      ],
+      "rotation_wxyz": [
+        0.9971835478854807,
+        -0.0005009365198639446,
+        0.00010120483835722639,
+        0.074998070953255
+      ],
+      "yaw_degrees_local": 8.543513638752273,
+      "yaw_radians": 0.1501369965512321,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.532426334032604,
+        8.801113998996316,
+        0.8456067293927735
+      ],
+      "z_min": 0.7403797766412128,
+      "z_max": 0.8454778343596491
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.2456228034198094,
+        8.897018056595934,
+        0.7438282481078236
+      ],
+      "rotation_wxyz": [
+        0.030202580595184943,
+        4.800542420157649e-05,
+        0.0005087978925737992,
+        0.9995436673530453
+      ],
+      "yaw_degrees_local": 176.47980193641297,
+      "yaw_radians": 3.081178263909389,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2456228034198094,
+        8.897018056595934,
+        0.7474085275891487
+      ],
+      "z_min": 0.7403188203050713,
+      "z_max": 0.7474793792677215
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        3.2288028201412424,
+        8.395206188760971,
+        0.7461272272523628
+      ],
+      "rotation_wxyz": [
+        0.952712679434072,
+        -0.0005023862679554951,
+        -9.374355449876079e-05,
+        -0.30387215941203827
+      ],
+      "yaw_degrees_local": -35.43936156158256,
+      "yaw_radians": -0.6175086360886355,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2288028201412424,
+        8.395206188760971,
+        0.7514768831520127
+      ],
+      "z_min": 0.7408299060930695,
+      "z_max": 0.7515292178923693
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.1896340180684675,
+        8.86655269662274,
+        0.8184433548713528
+      ],
+      "rotation_wxyz": [
+        0.3010446803149249,
+        -0.00021307626646564225,
+        -0.0004645194515941988,
+        -0.9536098988969592
+      ],
+      "yaw_degrees_local": -145.01798600701795,
+      "yaw_radians": -2.5300169002109456,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1896340180684675,
+        8.86655269662274,
+        0.896436879341851
+      ],
+      "z_min": 0.740483553105593,
+      "z_max": 0.8964706020465895
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.9798242930030427,
+        8.761611436104749,
+        0.8167660965775718
+      ],
+      "rotation_wxyz": [
+        0.6809428309139364,
+        -0.0003917108838009758,
+        -0.00032824137422355986,
+        -0.7323363980078407
+      ],
+      "yaw_degrees_local": -94.22397014456504,
+      "yaw_radians": -1.643493796305582,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9798242930030427,
+        8.761611436104749,
+        0.8929520350996579
+      ],
+      "z_min": 0.7406165700903695,
+      "z_max": 0.8929884471345418
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.0502337897012266,
+        8.344252912803626,
+        0.8171804740592866
+      ],
+      "rotation_wxyz": [
+        0.9217071130341431,
+        -0.0004919851882984255,
+        -0.00013831265573068687,
+        -0.38788624183186676
+      ],
+      "yaw_degrees_local": -45.704794672002265,
+      "yaw_radians": -0.7966742063151785,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0502337897012266,
+        8.344252912803626,
+        0.8933664125813727
+      ],
+      "z_min": 0.7410309475720843,
+      "z_max": 0.8934028246162566
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        1.7041074553070508,
+        8.426051930394891,
+        0.787004430066037
+      ],
+      "rotation_wxyz": [
+        0.058591189677912825,
+        -9.295423016012488e-05,
+        -0.0005025329116940015,
+        -0.9982819297735039
+      ],
+      "yaw_degrees_local": -173.34080634625028,
+      "yaw_radians": -3.0243432299977964,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7041074553070508,
+        8.426051930394891,
+        0.8332028445669168
+      ],
+      "z_min": 0.7409918232284203,
+      "z_max": 0.83338865223018
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        4.895097760678133,
+        8.16388991959759,
+        0.9568555796206165
+      ],
+      "rotation_wxyz": [
+        0.13482602844395458,
+        0.0,
+        0.0,
+        0.990869286058474
+      ],
+      "yaw_degrees_local": 74.50287983936448,
+      "yaw_radians": 2.8711168822095106,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.895097760678133,
+        8.16388991959759,
+        0.9934657926897952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9934204550346891
+    }
+  ],
+  "variant_index": 79
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0081/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0081/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..cc4f4bbf6037a9a0870cd3528288087b098bc656
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0081/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3760276962994201425
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.223734164, -0.000175203777, -0.000480086922, -0.974650072)
+            double3 xformOp:translate = (1.98107177221, 8.29655379521, 0.74108804868)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987423634, -0.000490722821, 0.000142726765, 0.158095875)
+            double3 xformOp:translate = (2.28371175602, 8.86120246129, 0.740477019009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.677380946, -0.000390113389, -0.000330138396, -0.73563224)
+            double3 xformOp:translate = (3.5767353301, 8.71701399795, 0.78932502509)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905119513, -0.000485934469, -0.000158264044, -0.425156919)
+            double3 xformOp:translate = (3.07384570334, 8.29863459289, 0.746637286288)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0638147694, -9.55828996e-05, -0.000502039566, -0.99796163)
+            double3 xformOp:translate = (2.91848867458, 8.88718143017, 0.835243789216)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.623901788, -0.000266881938, 0.00043583695, 0.781502589)
+            double3 xformOp:translate = (3.72559754943, 8.87779805422, 0.821467229583)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.411639157, -0.000266483098, -0.000436080927, -0.911346774)
+            double3 xformOp:translate = (3.6288662036, 8.20716525464, 0.788393006358)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.783201743, -0.000357784795, 0.000364924454, 0.621767455)
+            double3 xformOp:translate = (3.68618704353, 8.70259448753, 0.767059435596)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.815260147, -0.000376745467, 0.000345315319, 0.579094665)
+            double3 xformOp:translate = (1.840746183, 8.42025881583, 0.744394905182)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0761687262, 2.4540122e-05, 0.000510468019, 0.997094812)
+            double3 xformOp:translate = (1.94127431163, 8.72061677971, 0.740662989743)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979664005, -0.000509514181, -3.96877307e-05, -0.200644403)
+            double3 xformOp:translate = (3.47346503764, 8.56713656312, 0.827011829199)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94994571, -0.000501524262, -9.82508558e-05, -0.312414609)
+            double3 xformOp:translate = (3.30053240001, 8.37807334692, 0.743877616892)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97941589, -0.000509464863, -4.03158713e-05, -0.20185206)
+            double3 xformOp:translate = (3.23282511359, 8.24698948892, 0.818514511622)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.660519737, -0.000287395971, 0.000422591259, 0.750808508)
+            double3 xformOp:translate = (2.30014729256, 8.26483954987, 0.77098793278)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.705706317, -0.000402759066, -0.000314586953, -0.708504293)
+            double3 xformOp:translate = (2.76178064664, 8.85448277146, 0.74042326247)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993679622, -0.000496799557, 0.000119875005, 0.112252158)
+            double3 xformOp:translate = (3.64449676411, 8.52372508778, 0.753658885793)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987273987, 0, 0, -0.159028534)
+            double3 xformOp:translate = (4.95851032511, 8.29764182335, 0.966212635734)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.655697319, -0.000284683412, 0.00042442334, 0.755023685)
+            double3 xformOp:translate = (2.76931676734, 8.21873286427, 0.793745057057)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.552068412, -0.000227141102, 0.000457806439, 0.833798661)
+            double3 xformOp:translate = (2.52910955563, 8.32334477883, 0.750540973633)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.512193685, -0.000314151461, -0.000403098842, -0.85886982)
+            double3 xformOp:translate = (1.69444099365, 8.21212689424, 0.747150249365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.563544521, 0, 0, 0.826085694)
+            double3 xformOp:translate = (4.83933137273, 8.11247497795, 1.00211090552)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.639193527, -0.00027542577, 0.000430488631, 0.769045755)
+            double3 xformOp:translate = (1.8105767938, 8.73001452887, 0.780016005271)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.169511915, -2.35284617e-05, 0.000510515649, 0.985528006)
+            double3 xformOp:translate = (2.18467992253, 8.38752657033, 0.746223134196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.509857127, -0.000313054556, -0.00040395131, -0.860258943)
+            double3 xformOp:translate = (3.42962363803, 8.80430185619, 0.751632640047)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0786674816, 0, 0, 0.996900911)
+            double3 xformOp:translate = (4.9837030004, 8.78569787383, 0.946799261469)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.517014574, -0.000316412913, -0.000401326157, -0.855976442)
+            double3 xformOp:translate = (2.10148580399, 8.83273410508, 0.747946968332)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.911353609, 0, 0, -0.411624342)
+            double3 xformOp:translate = (4.96317406924, 8.1218690551, 0.925889829626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.254326598, -0.000190240543, -0.000474329371, -0.967118256)
+            double3 xformOp:translate = (3.45018887253, 8.40772947515, 0.746517656215)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.696442399, -0.00030771591, 0.000408032762, 0.717612516)
+            double3 xformOp:translate = (3.16788178862, 8.46685247266, 0.841022013971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.918091943, -0.000490689149, -0.000142842486, -0.396367157)
+            double3 xformOp:translate = (3.1271428546, 8.84863283336, 0.816532470129)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0081/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0081/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..dac69343ffb3c2c4ee6d92fbf5e75aa129857925
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0081/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3760276962994201425,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 2,
+    "drinkware": 7,
+    "office_supplies": 2,
+    "clock": 4,
+    "small object": 4,
+    "electronics": 7,
+    "small prop": 1,
+    "office_supply": 1,
+    "writing_instrument": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 155,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.9810717722117372,
+        8.29655379520793,
+        0.7410880486796291
+      ],
+      "rotation_wxyz": [
+        0.22373416448419406,
+        -0.00017520377669500922,
+        -0.00048008692220484196,
+        -0.9746500718015383
+      ],
+      "yaw_degrees_local": -154.20179968578293,
+      "yaw_radians": -2.6903046654127993,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9810717722117372,
+        8.29655379520793,
+        0.8910880546400936
+      ],
+      "z_min": 0.7410880486796291,
+      "z_max": 1.0410880606005581
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.2837117560197124,
+        8.86120246129227,
+        0.7404770190085423
+      ],
+      "rotation_wxyz": [
+        0.9874236341213484,
+        -0.0004907228208178078,
+        0.00014272676472521303,
+        0.1580958747051088
+      ],
+      "yaw_degrees_local": 18.134074430008837,
+      "yaw_radians": 0.3175237938264053,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2837117560197124,
+        8.86120246129227,
+        0.7904771128858579
+      ],
+      "z_min": 0.7404770190085423,
+      "z_max": 0.8404772067631734
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.576735330100482,
+        8.71701399794627,
+        0.7893250250898449
+      ],
+      "rotation_wxyz": [
+        0.6773809461574635,
+        -0.00039011338859196436,
+        -0.0003301383956488667,
+        -0.7356322400513748
+      ],
+      "yaw_degrees_local": -94.78005985346944,
+      "yaw_radians": -1.6531993977100303,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.576735330100482,
+        8.71701399794627,
+        0.8381924895957941
+      ],
+      "z_min": 0.7404594575775267,
+      "z_max": 0.8381943865894251
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.0738457033390896,
+        8.298634592888195,
+        0.7466372862876799
+      ],
+      "rotation_wxyz": [
+        0.9051195130403095,
+        -0.00048593446933903496,
+        -0.00015826404439575994,
+        -0.4251569191885005
+      ],
+      "yaw_degrees_local": -50.37991002531254,
+      "yaw_radians": -0.8782703560140236,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0738457033390896,
+        8.298634592888195,
+        0.7524683373124661
+      ],
+      "z_min": 0.7409474855583552,
+      "z_max": 0.7526095876079276
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.9184886745773895,
+        8.88718143016968,
+        0.8352437892161013
+      ],
+      "rotation_wxyz": [
+        0.06381476940249699,
+        -9.55828995929752e-05,
+        -0.0005020395657173962,
+        -0.9979616295360709
+      ],
+      "yaw_degrees_local": -172.74110319342776,
+      "yaw_radians": -3.01387644026136,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9184886745773895,
+        8.88718143016968,
+        0.9301406352803049
+      ],
+      "z_min": 0.7403702929136866,
+      "z_max": 0.9301639850420939
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.7255975494319564,
+        8.877798054219117,
+        0.8214672295827802
+      ],
+      "rotation_wxyz": [
+        0.6239017883800446,
+        -0.0002668819381005212,
+        0.00043583695042529624,
+        0.7815025894239672
+      ],
+      "yaw_degrees_local": 102.73802371164618,
+      "yaw_radians": 1.7941416381873914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7255975494319564,
+        8.877798054219117,
+        0.9027110828761451
+      ],
+      "z_min": 0.7402775410888935,
+      "z_max": 0.9027652476756235
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.628866203604228,
+        8.207165254643106,
+        0.7883930063584136
+      ],
+      "rotation_wxyz": [
+        0.41163915682913904,
+        -0.0002664830982703428,
+        -0.000436080926636962,
+        -0.9113467744965028
+      ],
+      "yaw_degrees_local": -131.4430121812464,
+      "yaw_radians": -2.2930888942322336,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.628866203604228,
+        8.207165254643106,
+        0.835845532097394
+      ],
+      "z_min": 0.740969956784985,
+      "z_max": 0.8358750082629459
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.6861870435324007,
+        8.702594487526957,
+        0.7670594355958779
+      ],
+      "rotation_wxyz": [
+        0.7832017432592353,
+        -0.0003577847946517427,
+        0.000364924453765876,
+        0.6217674550632889
+      ],
+      "yaw_degrees_local": 76.8319386500238,
+      "yaw_radians": 1.3419949360532826,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6861870435324007,
+        8.702594487526957,
+        0.7936339202519519
+      ],
+      "z_min": 0.7404602030232121,
+      "z_max": 0.7936091723353601
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        1.8407461829985852,
+        8.420258815826429,
+        0.7443949051815657
+      ],
+      "rotation_wxyz": [
+        0.815260147062081,
+        -0.0003767454671799018,
+        0.00034531531851296455,
+        0.5790946653462611
+      ],
+      "yaw_degrees_local": 70.71508298342812,
+      "yaw_radians": 1.2352356118936139,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8407461829985852,
+        8.420258815826429,
+        0.7478341872607808
+      ],
+      "z_min": 0.7409803642602104,
+      "z_max": 0.7478589284186404
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.941274311627764,
+        8.72061677971338,
+        0.7406629897434189
+      ],
+      "rotation_wxyz": [
+        0.07616872617795872,
+        2.454012200715164e-05,
+        0.0005104680192256776,
+        0.9970948119274371
+      ],
+      "yaw_degrees_local": 171.20453345881515,
+      "yaw_radians": 2.9891075080442584,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.941274311627764,
+        8.72061677971338,
+        0.763160001457202
+      ],
+      "z_min": 0.7406629927383535,
+      "z_max": 0.7856570161659195
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.4734650376384963,
+        8.567136563117778,
+        0.8270118291985402
+      ],
+      "rotation_wxyz": [
+        0.9796640049339452,
+        -0.0005095141806372517,
+        -3.968773072200935e-05,
+        -0.20064440250594304
+      ],
+      "yaw_degrees_local": -23.20800240071668,
+      "yaw_radians": -0.40403122595652813,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4734650376384963,
+        8.567136563117778,
+        0.9134111081568069
+      ],
+      "z_min": 0.7406245721561793,
+      "z_max": 0.9134231300727126
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.300532400008451,
+        8.378073346917631,
+        0.7438776168918262
+      ],
+      "rotation_wxyz": [
+        0.9499457095817246,
+        -0.000501524262193278,
+        -9.825085583240869e-05,
+        -0.31241460860122683
+      ],
+      "yaw_degrees_local": -36.46832818930815,
+      "yaw_radians": -0.6354674866022153,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.300532400008451,
+        8.378073346917631,
+        0.7469896201357018
+      ],
+      "z_min": 0.7408381933749856,
+      "z_max": 0.7470621998627367
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        3.23282511358828,
+        8.246989488920782,
+        0.8185145116219686
+      ],
+      "rotation_wxyz": [
+        0.9794158895733048,
+        -0.000509464863129101,
+        -4.0315871281159074e-05,
+        -0.20185205986443622
+      ],
+      "yaw_degrees_local": -23.349280275435433,
+      "yaw_radians": -0.4064969889406634,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.23282511358828,
+        8.246989488920782,
+        0.8962213454554011
+      ],
+      "z_min": 0.7409797603441228,
+      "z_max": 0.8963934280109878
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        2.3001472925567383,
+        8.26483954987044,
+        0.7709879327802376
+      ],
+      "rotation_wxyz": [
+        0.6605197373431574,
+        -0.0002873959710619284,
+        0.0004225912588514862,
+        0.7508085078102874
+      ],
+      "yaw_degrees_local": 97.2622304797597,
+      "yaw_radians": 1.6985709759835823,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3001472925567383,
+        8.26483954987044,
+        0.8008715703978866
+      ],
+      "z_min": 0.7410798026846144,
+      "z_max": 0.8008470779199123
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.76178064664286,
+        8.854482771460141,
+        0.7404232624701139
+      ],
+      "rotation_wxyz": [
+        0.7057063167277154,
+        -0.00040275906578716227,
+        -0.00031458695326819404,
+        -0.7085042931068134
+      ],
+      "yaw_degrees_local": -90.28542633754722,
+      "yaw_radians": -1.5747532037888778,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.76178064664286,
+        8.854482771460141,
+        0.7904233563474294
+      ],
+      "z_min": 0.7404232624701139,
+      "z_max": 0.840423450224745
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        3.6444967641113823,
+        8.523725087776636,
+        0.7536588857927996
+      ],
+      "rotation_wxyz": [
+        0.9936796223188319,
+        -0.0004967995566223033,
+        0.0001198750048183331,
+        0.11225215814623565
+      ],
+      "yaw_degrees_local": 12.831609198177034,
+      "yaw_radians": 0.22497835099877134,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6444967641113823,
+        8.523725087776636,
+        0.7666347049025618
+      ],
+      "z_min": 0.7406468932316705,
+      "z_max": 0.7665985314511949
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        4.958510325112619,
+        8.29764182335101,
+        0.9662126357339486
+      ],
+      "rotation_wxyz": [
+        0.9872739869873243,
+        0.0,
+        0.0,
+        -0.15902853397473315
+      ],
+      "yaw_degrees_local": -108.30102673689404,
+      "yaw_radians": -0.31941317305431494,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.958510325112619,
+        8.29764182335101,
+        1.0124110502348285
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0125968578980915
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.769316767335129,
+        8.218732864271304,
+        0.7937450570569915
+      ],
+      "rotation_wxyz": [
+        0.6556973186598947,
+        -0.00028468341182450623,
+        0.0004244233396884191,
+        0.755023685140015
+      ],
+      "yaw_degrees_local": 97.99618554940469,
+      "yaw_radians": 1.7113809143275736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.769316767335129,
+        8.218732864271304,
+        0.8462940859162096
+      ],
+      "z_min": 0.7410671331646489,
+      "z_max": 0.8461651908830852
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        2.529109555630891,
+        8.323344778830652,
+        0.7505409736330758
+      ],
+      "rotation_wxyz": [
+        0.5520684117443417,
+        -0.000227141102033664,
+        0.0004578064394558526,
+        0.8337986612931589
+      ],
+      "yaw_degrees_local": 112.9232182724785,
+      "yaw_radians": 1.9719068775790995,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.529109555630891,
+        8.323344778830652,
+        0.7600448065552803
+      ],
+      "z_min": 0.7409914443890768,
+      "z_max": 0.7599991102334855
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.6944409936461846,
+        8.212126894240434,
+        0.7471502493652761
+      ],
+      "rotation_wxyz": [
+        0.5121936854167347,
+        -0.00031415146058231787,
+        -0.0004030988415442408,
+        -0.8588698198443155
+      ],
+      "yaw_degrees_local": -118.43857987326135,
+      "yaw_radians": -2.0661186665656603,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6944409936461846,
+        8.212126894240434,
+        0.7529674621318484
+      ],
+      "z_min": 0.7412099967029664,
+      "z_max": 0.752844422236111
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        4.83933137273218,
+        8.112474977953175,
+        1.002110905524859
+      ],
+      "rotation_wxyz": [
+        0.5635445206848904,
+        0.0,
+        0.0,
+        0.8260856936214531
+      ],
+      "yaw_degrees_local": 21.397437686918238,
+      "yaw_radians": 1.9442520659219396,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.83933137273218,
+        8.112474977953175,
+        1.0840469145656777
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.0840720469779694
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.8105767938011597,
+        8.730014528874175,
+        0.7800160052713958
+      ],
+      "rotation_wxyz": [
+        0.6391935272834365,
+        -0.00027542577012127127,
+        0.0004304886309688297,
+        0.7690457551401884
+      ],
+      "yaw_degrees_local": 100.4778589128411,
+      "yaw_radians": 1.7546943044835692,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8105767938011597,
+        8.730014528874175,
+        0.8193648645972716
+      ],
+      "z_min": 0.7406700413134595,
+      "z_max": 0.8193677599652112
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.184679922531407,
+        8.387526570330412,
+        0.746223134196178
+      ],
+      "rotation_wxyz": [
+        0.16951191458947,
+        -2.3528461717986363e-05,
+        0.0005105156488585809,
+        0.9855280055038499
+      ],
+      "yaw_degrees_local": 160.42240308503636,
+      "yaw_radians": 2.800923927454327,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.184679922531407,
+        8.387526570330412,
+        0.7514590495143115
+      ],
+      "z_min": 0.7409699865270969,
+      "z_max": 0.7514418171633639
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.4296236380305487,
+        8.804301856192502,
+        0.7516326400466877
+      ],
+      "rotation_wxyz": [
+        0.509857127142938,
+        -0.0003130545562954496,
+        -0.00040395131021321346,
+        -0.8602589428315953
+      ],
+      "yaw_degrees_local": -118.75007450506801,
+      "yaw_radians": -2.0715552755756512,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4296236380305487,
+        8.804301856192502,
+        0.7628656392705999
+      ],
+      "z_min": 0.7403895469867385,
+      "z_max": 0.7628555454345629
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        4.9837030003975045,
+        8.785697873830083,
+        0.9467992614689975
+      ],
+      "rotation_wxyz": [
+        0.07866748162073206,
+        0.0,
+        0.0,
+        0.9969009114929388
+      ],
+      "yaw_degrees_local": 80.97604669902563,
+      "yaw_radians": 2.9840949569415796,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9837030003975045,
+        8.785697873830083,
+        0.9733737461250715
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9733489982084798
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.101485803987154,
+        8.83273410507669,
+        0.7479469683315136
+      ],
+      "rotation_wxyz": [
+        0.5170145740689538,
+        -0.00031641291307282977,
+        -0.00040132615748425684,
+        -0.8559764418606872
+      ],
+      "yaw_degrees_local": -117.79428690827658,
+      "yaw_radians": -2.0548736286055056,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.101485803987154,
+        8.83273410507669,
+        0.7554868709746131
+      ],
+      "z_min": 0.7405289846386018,
+      "z_max": 0.7556087899248007
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        4.963174069244086,
+        8.12186905509509,
+        0.9258898296256565
+      ],
+      "rotation_wxyz": [
+        0.9113536092244648,
+        0.0,
+        0.0,
+        -0.41162434203232146
+      ],
+      "yaw_degrees_local": -138.61382869265103,
+      "yaw_radians": -0.8484713726872509,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.963174069244086,
+        8.12186905509509,
+        0.9317208806504427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318621309459042
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.4501888725273036,
+        8.407729475146168,
+        0.7465176562146051
+      ],
+      "rotation_wxyz": [
+        0.2543265978948118,
+        -0.00019024054317016105,
+        -0.0004743293707695474,
+        -0.9671182556561709
+      ],
+      "yaw_degrees_local": -150.5913333096342,
+      "yaw_radians": -2.627290151101036,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4501888725273036,
+        8.407729475146168,
+        0.7521447831048239
+      ],
+      "z_min": 0.7407891549374005,
+      "z_max": 0.7520434087178381
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.1678817886150235,
+        8.466852472657312,
+        0.841022013970914
+      ],
+      "rotation_wxyz": [
+        0.6964423989180258,
+        -0.0003077159100352935,
+        0.00040803276210552475,
+        0.7176125164805094
+      ],
+      "yaw_degrees_local": 91.65673608010718,
+      "yaw_radians": 1.6007365956375976,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1678817886150235,
+        8.466852472657312,
+        0.9412388940335641
+      ],
+      "z_min": 0.7407650084926355,
+      "z_max": 0.9411987686179355
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.127142854602601,
+        8.848632833359169,
+        0.816532470129127
+      ],
+      "rotation_wxyz": [
+        0.9180919431326612,
+        -0.0004906891485136987,
+        -0.00014284248587592542,
+        -0.3963671565292444
+      ],
+      "yaw_degrees_local": -46.7612517348781,
+      "yaw_radians": -0.8151128584835361,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.127142854602601,
+        8.848632833359169,
+        0.8927184086512131
+      ],
+      "z_min": 0.7403829436419247,
+      "z_max": 0.892754820686097
+    }
+  ],
+  "variant_index": 81
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0083/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0083/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..f5f9020671c547ac0131e2584824bb410d10c453
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0083/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8781616388836235279
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0743414155, -0.000100874953, -0.000501003054, -0.997232717)
+            double3 xformOp:translate = (3.54496217045, 8.53597165737, 0.740647076714)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.690335651, -0.000304246798, 0.000410625988, 0.723489065)
+            double3 xformOp:translate = (3.62392624115, 8.8393251002, 0.74032939806)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.95569256, -0.000465998687, 0.000209821448, 0.294366216)
+            double3 xformOp:translate = (3.11049605617, 8.8624022188, 0.740371047679)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.729945644, -0.000413467497, -0.000300373843, -0.683505008)
+            double3 xformOp:translate = (3.42583726958, 8.72350753797, 0.816621531313)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.811264262, -0.000448444812, -0.000245106236, -0.584679431)
+            double3 xformOp:translate = (3.40277250829, 8.52793328134, 0.745042906711)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.102033128, 0, 0, 0.994781001)
+            double3 xformOp:translate = (4.97057336671, 8.33823915124, 0.998159830662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970165061, -0.000476627171, 0.000184408123, 0.242444825)
+            double3 xformOp:translate = (3.60394362994, 8.25546013721, 0.819633718685)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986762044, -0.000510676589, -1.97291128e-05, -0.162174003)
+            double3 xformOp:translate = (2.61126666541, 8.28956371286, 0.818382849628)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.967082333, -0.000474302502, 0.000190307521, 0.254463162)
+            double3 xformOp:translate = (1.71847330637, 8.33643908173, 0.750630401491)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.423228366, -0.000157228815, 0.000486270415, 0.906022896)
+            double3 xformOp:translate = (1.99120804472, 8.24586035817, 0.78771510298)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98988859, -0.000493002271, 0.000134642405, 0.141846108)
+            double3 xformOp:translate = (3.33610125889, 8.30762876727, 0.77551193986)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.216853467, -4.8126797e-05, 0.000508786426, 0.976204032)
+            double3 xformOp:translate = (2.89919089494, 8.32425445564, 0.813715883872)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.200835456, -0.000163906631, -0.00048406036, -0.979624856)
+            double3 xformOp:translate = (1.94344367618, 8.66110554351, 0.75027261032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.734015752, 0, 0, 0.679132443)
+            double3 xformOp:translate = (4.89047194023, 8.10569095976, 0.933578312069)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.87727397, -0.000414472019, 0.000298986223, 0.479989709)
+            double3 xformOp:translate = (3.26750707658, 8.86170846244, 0.751371910554)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416947761, -0.000269022092, -0.000434519195, -0.908930307)
+            double3 xformOp:translate = (3.49089024659, 8.36223838604, 0.750851831246)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.123968288, -4.43613548e-09, 0.000511057547, 0.992286049)
+            double3 xformOp:translate = (2.26977090681, 8.21085561136, 0.809191758702)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.1108302, 6.75649216e-06, 0.000511012882, 0.993839225)
+            double3 xformOp:translate = (2.42528869589, 8.20295661479, 0.819086537659)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.969375002, -0.000507143455, -6.31294868e-05, -0.2455847)
+            double3 xformOp:translate = (3.71438892258, 8.41791300401, 0.746395788261)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992691226, -0.000511054758, 1.68834122e-06, -0.120680856)
+            double3 xformOp:translate = (3.54576990866, 8.69572250711, 0.817852507702)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.466213275, -0.000180379725, 0.000478166259, 0.884672211)
+            double3 xformOp:translate = (3.09558563931, 8.25827840053, 0.770893804379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.651224835, -0.000378322262, -0.000343587081, -0.758884677)
+            double3 xformOp:translate = (1.94862406906, 8.84783191306, 0.787123294036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.967421788, -0.000506633454, -6.70996244e-05, -0.253169554)
+            double3 xformOp:translate = (1.79949357478, 8.55905012136, 0.746097973033)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.885379642, -0.000419540478, 0.000291831464, 0.464868399)
+            double3 xformOp:translate = (2.5210211743, 8.3379841501, 0.788557444452)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.706167063, -0.000313253546, 0.000403797019, 0.708045067)
+            double3 xformOp:translate = (1.83310461119, 8.86898580459, 0.801200739817)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.140171589, -8.35815953e-06, 0.000510989195, 0.990127095)
+            double3 xformOp:translate = (2.92867185233, 8.86518971261, 0.805695605438)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981306686, -0.000509828078, -3.54280537e-05, -0.192449803)
+            double3 xformOp:translate = (2.33436113262, 8.33404362578, 0.746368728678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.881815764, -0.000417307122, 0.000295016241, 0.471593785)
+            double3 xformOp:translate = (3.7202875839, 8.58656094566, 0.787163811706)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.627849348, 0, 0, 0.778334887)
+            double3 xformOp:translate = (4.96432387374, 8.45542334977, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0367291721, -8.19337393e-05, -0.000504446904, -0.999325126)
+            double3 xformOp:translate = (2.83131551068, 8.21547144153, 0.74875875092)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0083/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0083/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d380cfc23625d5a170116050192682951635e7ba
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0083/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8781616388836235279,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "clock": 1,
+    "electronics": 7,
+    "small prop": 2,
+    "timepiece": 1,
+    "paper_goods": 2,
+    "office_supply": 2,
+    "small object": 4,
+    "book": 1,
+    "writing_instrument": 2,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 118,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.544962170454633,
+        8.535971657373166,
+        0.7406470767143166
+      ],
+      "rotation_wxyz": [
+        0.07434141550547996,
+        -0.0001008749528208096,
+        -0.0005010030540163522,
+        -0.9972327174540683
+      ],
+      "yaw_degrees_local": -171.53194419830237,
+      "yaw_radians": -2.9927726441542197,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.544962170454633,
+        8.535971657373166,
+        0.7906471705916321
+      ],
+      "z_min": 0.7406470767143166,
+      "z_max": 0.8406472644689477
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.623926241148606,
+        8.839325100200917,
+        0.7403293980603172
+      ],
+      "rotation_wxyz": [
+        0.6903356511900802,
+        -0.0003042467982631994,
+        0.0004106259879585127,
+        0.7234890652360627
+      ],
+      "yaw_degrees_local": 92.62790641676753,
+      "yaw_radians": 1.6176867239990782,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.623926241148606,
+        8.839325100200917,
+        0.7628264097741002
+      ],
+      "z_min": 0.7403294010552517,
+      "z_max": 0.7853234244828178
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.1104960561718755,
+        8.862402218802693,
+        0.7403710476786983
+      ],
+      "rotation_wxyz": [
+        0.9556925601951285,
+        -0.0004659986867059007,
+        0.00020982144844769427,
+        0.2943662161455772
+      ],
+      "yaw_degrees_local": 34.18036782496338,
+      "yaw_radians": 0.597584389135567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1104960561718755,
+        8.862402218802693,
+        0.7903711415560138
+      ],
+      "z_min": 0.7403710476786983,
+      "z_max": 0.8403712354333294
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.4258372695843278,
+        8.723507537972056,
+        0.8166215313128721
+      ],
+      "rotation_wxyz": [
+        0.7299456435196487,
+        -0.00041346749688612696,
+        -0.0003003738425013623,
+        -0.6835050082675838
+      ],
+      "yaw_degrees_local": -86.29501973283723,
+      "yaw_radians": -1.50510743542856,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4258372695843278,
+        8.723507537972056,
+        0.8928074698349582
+      ],
+      "z_min": 0.7404720048256698,
+      "z_max": 0.8928438818698421
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        3.4027725082930043,
+        8.527933281335443,
+        0.7450429067108425
+      ],
+      "rotation_wxyz": [
+        0.8112642617048299,
+        -0.00044844481163063867,
+        -0.0002451062364809872,
+        -0.5846794305435254
+      ],
+      "yaw_degrees_local": -71.61941415959811,
+      "yaw_radians": -1.2489696919944417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4027725082930043,
+        8.527933281335443,
+        0.7494669361793962
+      ],
+      "z_min": 0.7406732473659902,
+      "z_max": 0.7495213063030975
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        4.970573366714991,
+        8.338239151240787,
+        0.9981598306620916
+      ],
+      "rotation_wxyz": [
+        -0.10203312755414046,
+        0.0,
+        0.0,
+        0.9947810014679215
+      ],
+      "yaw_degrees_local": 101.71251812865114,
+      "yaw_radians": -2.937170648545306,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.970573366714991,
+        8.338239151240787,
+        1.07615335513259
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0761870778373284
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.603943629941973,
+        8.255460137210008,
+        0.8196337186845387
+      ],
+      "rotation_wxyz": [
+        0.9701650610763376,
+        -0.0004766271711969887,
+        0.00018440812324046105,
+        0.2424448248301668
+      ],
+      "yaw_degrees_local": 28.00305521792575,
+      "yaw_radians": 0.48976995829925335,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.603943629941973,
+        8.255460137210008,
+        0.8983443815091606
+      ],
+      "z_min": 0.7409241486219136,
+      "z_max": 0.8983454742711575
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.61126666540728,
+        8.289563712855932,
+        0.8183828496280967
+      ],
+      "rotation_wxyz": [
+        0.986762044005167,
+        -0.0005106765888006677,
+        -1.9729112783557504e-05,
+        -0.1621740032524597
+      ],
+      "yaw_degrees_local": -18.7249243371503,
+      "yaw_radians": -0.32578678931564853,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.61126666540728,
+        8.289563712855932,
+        0.8957646047614362
+      ],
+      "z_min": 0.7410153322607134,
+      "z_max": 0.8957788425273923
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        1.7184733063684372,
+        8.336439081733563,
+        0.750630401490763
+      ],
+      "rotation_wxyz": [
+        0.9670823325196959,
+        -0.00047430250214692746,
+        0.0001903075213896614,
+        0.2544631622621405
+      ],
+      "yaw_degrees_local": 29.424848180361494,
+      "yaw_radians": 0.5145849227244021,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7184733063684372,
+        8.336439081733563,
+        0.7601342344129675
+      ],
+      "z_min": 0.741080872246764,
+      "z_max": 0.7600885380911727
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        1.9912080447240368,
+        8.245860358171887,
+        0.7877151029798323
+      ],
+      "rotation_wxyz": [
+        0.42322836634281913,
+        -0.0001572288146503218,
+        0.000486270414567828,
+        0.9060228963679519
+      ],
+      "yaw_degrees_local": 129.86413019215155,
+      "yaw_radians": 2.2675816027286824,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9912080447240368,
+        8.245860358171887,
+        0.8340822711157172
+      ],
+      "z_min": 0.7411382036474734,
+      "z_max": 0.8338725399192433
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.3361012588897045,
+        8.307628767271323,
+        0.7755119398600221
+      ],
+      "rotation_wxyz": [
+        0.9898885899488474,
+        -0.000493002270814669,
+        0.00013464240495435502,
+        0.14184610783968146
+      ],
+      "yaw_degrees_local": 16.25066504442364,
+      "yaw_radians": 0.2846521102059289,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3361012588897045,
+        8.307628767271323,
+        0.8101116668428574
+      ],
+      "z_min": 0.7409051504096388,
+      "z_max": 0.8101046043753093
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.8991908949369587,
+        8.324254455635556,
+        0.8137158838721296
+      ],
+      "rotation_wxyz": [
+        0.2168534668411273,
+        -4.8126797027554964e-05,
+        0.0005087864263600015,
+        0.9762040323309303
+      ],
+      "yaw_degrees_local": 154.89270849012968,
+      "yaw_radians": 2.704412593591282,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8991908949369587,
+        8.324254455635556,
+        0.8865783284788733
+      ],
+      "z_min": 0.7409436650702531,
+      "z_max": 0.8866685542837405
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        1.9434436761772966,
+        8.661105543507501,
+        0.7502726103204017
+      ],
+      "rotation_wxyz": [
+        0.2008354556849515,
+        -0.00016390663137136747,
+        -0.0004840603603196643,
+        -0.9796248560341871
+      ],
+      "yaw_degrees_local": -156.88707045022642,
+      "yaw_radians": -2.737171470552498,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9434436761772966,
+        8.661105543507501,
+        0.7597764432426062
+      ],
+      "z_min": 0.7407230810764027,
+      "z_max": 0.7597307469208114
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        4.890471940226766,
+        8.10569095976107,
+        0.933578312068767
+      ],
+      "rotation_wxyz": [
+        0.7340157521218579,
+        0.0,
+        0.0,
+        0.6791324433694678
+      ],
+      "yaw_degrees_local": -4.448227499668576,
+      "yaw_radians": 1.493160111047925,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.890471940226766,
+        8.10569095976107,
+        0.9469827494760042
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9470089037108064
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        3.267507076579262,
+        8.861708462437262,
+        0.7513719105539592
+      ],
+      "rotation_wxyz": [
+        0.8772739700617517,
+        -0.00041447201922587836,
+        0.0002989862229587439,
+        0.47998970850662714
+      ],
+      "yaw_degrees_local": 57.310757493816936,
+      "yaw_radians": 1.0012859021690816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.267507076579262,
+        8.861708462437262,
+        0.7622513307570955
+      ],
+      "z_min": 0.7403518635929547,
+      "z_max": 0.7621107039992272
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.490890246591822,
+        8.362238386044835,
+        0.7508518312461476
+      ],
+      "rotation_wxyz": [
+        0.4169477608984719,
+        -0.0002690220915876953,
+        -0.0004345191946026025,
+        -0.9089303072854017
+      ],
+      "yaw_degrees_local": -130.77463097926469,
+      "yaw_radians": -2.281423439302668,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.490890246591822,
+        8.362238386044835,
+        0.7608891822269663
+      ],
+      "z_min": 0.7408301387966455,
+      "z_max": 0.7609048407582829
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.2697709068111056,
+        8.210855611355889,
+        0.8091917587020607
+      ],
+      "rotation_wxyz": [
+        0.12396828775706213,
+        -4.436135480874806e-09,
+        0.0005110575468776813,
+        0.9922860487030775
+      ],
+      "yaw_degrees_local": 165.6989284830927,
+      "yaw_radians": 2.8930166234388803,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2697709068111056,
+        8.210855611355889,
+        0.8772471022556466
+      ],
+      "z_min": 0.7411384235797511,
+      "z_max": 0.8772491106869229
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.4252886958949826,
+        8.202956614790963,
+        0.8190865376586155
+      ],
+      "rotation_wxyz": [
+        0.1108302004253526,
+        6.756492158717271e-06,
+        0.0005110128824736435,
+        0.9938392251736999
+      ],
+      "yaw_degrees_local": 167.2149375397628,
+      "yaw_radians": 2.9194759594877,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4252886958949826,
+        8.202956614790963,
+        0.8970800621291137
+      ],
+      "z_min": 0.7411267358928557,
+      "z_max": 0.8971137848338522
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.714388922581627,
+        8.417913004013013,
+        0.7463957882613974
+      ],
+      "rotation_wxyz": [
+        0.96937500162161,
+        -0.0005071434551852113,
+        -6.312948679593518e-05,
+        -0.24558470036076643
+      ],
+      "yaw_degrees_local": -28.49149486116991,
+      "yaw_radians": -0.4962455271535282,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.714388922581627,
+        8.417913004013013,
+        0.7520446394746795
+      ],
+      "z_min": 0.7407453519916105,
+      "z_max": 0.7520430544181748
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.5457699086614456,
+        8.695722507112709,
+        0.8178525077018841
+      ],
+      "rotation_wxyz": [
+        0.9926912258339473,
+        -0.0005110547580682785,
+        1.6883412231977294e-06,
+        -0.12068085586570508
+      ],
+      "yaw_degrees_local": -13.921508883083618,
+      "yaw_radians": -0.2419514158327471,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5457699086614456,
+        8.695722507112709,
+        0.8952342628352236
+      ],
+      "z_min": 0.7404849903345008,
+      "z_max": 0.8952485006011797
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        3.0955856393093133,
+        8.258278400533111,
+        0.7708938043792604
+      ],
+      "rotation_wxyz": [
+        0.4662132753662747,
+        -0.00018037972542724214,
+        0.00047816625863302545,
+        0.8846722108738547
+      ],
+      "yaw_degrees_local": 124.36373880931745,
+      "yaw_radians": 2.171581661714952,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0955856393093133,
+        8.258278400533111,
+        0.8007774419969094
+      ],
+      "z_min": 0.7409856742836372,
+      "z_max": 0.800752949518935
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        1.948624069055299,
+        8.847831913063299,
+        0.7871232940357317
+      ],
+      "rotation_wxyz": [
+        0.6512248349884242,
+        -0.0003783222617925212,
+        -0.00034358708135275354,
+        -0.7588846770850521
+      ],
+      "yaw_degrees_local": -98.79067165611647,
+      "yaw_radians": -1.7231978152166063,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.948624069055299,
+        8.847831913063299,
+        0.8337048973016497
+      ],
+      "z_min": 0.7405330601710316,
+      "z_max": 0.8336962667028676
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.799493574781603,
+        8.559050121357263,
+        0.7460979730333777
+      ],
+      "rotation_wxyz": [
+        0.9674217878271901,
+        -0.0005066334539288875,
+        -6.709962444305047e-05,
+        -0.2531695543651076
+      ],
+      "yaw_degrees_local": -29.38901369931162,
+      "yaw_radians": -0.5119101800447142,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.799493574781603,
+        8.559050121357263,
+        0.7513338883515112
+      ],
+      "z_min": 0.7408448253642965,
+      "z_max": 0.7513166560005635
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.5210211742998476,
+        8.337984150104425,
+        0.7885574444524414
+      ],
+      "rotation_wxyz": [
+        0.8853796418203516,
+        -0.00041954047786966055,
+        0.000291831464494851,
+        0.4648683993026953
+      ],
+      "yaw_degrees_local": 55.3447082611286,
+      "yaw_radians": 0.9669718590138251,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5210211742998476,
+        8.337984150104425,
+        0.8359563698805418
+      ],
+      "z_min": 0.7409776413401417,
+      "z_max": 0.8357754921963426
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.8331046111909814,
+        8.868985804588387,
+        0.8012007398174449
+      ],
+      "rotation_wxyz": [
+        0.7061670633756533,
+        -0.0003132535456535976,
+        0.00040379701878018125,
+        0.7080450673676006
+      ],
+      "yaw_degrees_local": 90.09346143255095,
+      "yaw_radians": 1.5734522922338712,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8331046111909814,
+        8.868985804588387,
+        0.8618276062727045
+      ],
+      "z_min": 0.7405262490153626,
+      "z_max": 0.8617799819258818
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.9286718523304236,
+        8.86518971260672,
+        0.805695605437991
+      ],
+      "rotation_wxyz": [
+        0.14017158882171574,
+        -8.358159531820876e-06,
+        0.0005109891950027449,
+        0.990127095128388
+      ],
+      "yaw_degrees_local": 163.82573652016026,
+      "yaw_radians": 2.8603232725674177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9286718523304236,
+        8.86518971260672,
+        0.8710513297996325
+      ],
+      "z_min": 0.7403912919554885,
+      "z_max": 0.8711027406787715
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.3343611326164493,
+        8.334043625778877,
+        0.7463687286778131
+      ],
+      "rotation_wxyz": [
+        0.9813066861119503,
+        -0.0005098280781295377,
+        -3.542805372942004e-05,
+        -0.1924498028374315
+      ],
+      "yaw_degrees_local": -22.25028641860615,
+      "yaw_radians": -0.3873159362458277,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3343611326164493,
+        8.334043625778877,
+        0.7517041693728139
+      ],
+      "z_min": 0.741005265931003,
+      "z_max": 0.7516761473210046
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.7202875838974743,
+        8.586560945663166,
+        0.7871638117055518
+      ],
+      "rotation_wxyz": [
+        0.8818157637356888,
+        -0.0004173071216136536,
+        0.0002950162410628268,
+        0.47159378457251544
+      ],
+      "yaw_degrees_local": 56.21690231519102,
+      "yaw_radians": 0.9821945216383032,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7202875838974743,
+        8.586560945663166,
+        0.8337454149714698
+      ],
+      "z_min": 0.7405735778408518,
+      "z_max": 0.8337367843726877
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.964323873737641,
+        8.455423349773271,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.6278493475006522,
+        0.0,
+        0.0,
+        0.7783348873351402
+      ],
+      "yaw_degrees_local": 12.216742139348781,
+      "yaw_radians": 1.7840187009936688,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.964323873737641,
+        8.455423349773271,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        2.831315510684895,
+        8.21547144152539,
+        0.7487587509198604
+      ],
+      "rotation_wxyz": [
+        0.036729172128984404,
+        -8.19337392507436e-05,
+        -0.0005044469036605376,
+        -0.9993251256397506
+      ],
+      "yaw_degrees_local": -175.84890988534556,
+      "yaw_radians": -3.068117874047404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.831315510684895,
+        8.21547144152539,
+        0.756613657263661
+      ],
+      "z_min": 0.7410625621976401,
+      "z_max": 0.7567723748852413
+    }
+  ],
+  "variant_index": 83
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0085/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0085/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..69d344912f8037585ca77c246ba03e0fda43620d
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0085/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1963838530263369776
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.934862907, -0.000496573883, -0.000120806436, -0.355008568)
+            double3 xformOp:translate = (3.53101572335, 8.42699482951, 0.74075937155)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.174187236, -2.59510598e-05, 0.000510398235, 0.984712418)
+            double3 xformOp:translate = (3.6390483776, 8.84289181803, 0.740323864589)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.619849698, 0, 0, 0.784720557)
+            double3 xformOp:translate = (4.94910404926, 8.767982232, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.573561401, -0.000342756522, -0.000379074904, -0.819162413)
+            double3 xformOp:translate = (3.17614788234, 8.70123939781, 0.794436248178)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.550645836, -0.000332122448, -0.000388425663, -0.834738823)
+            double3 xformOp:translate = (2.66932238233, 8.20289300523, 0.780441824854)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.962653806, -0.000471025902, 0.000198278632, 0.270734904)
+            double3 xformOp:translate = (1.78410088904, 8.60526836925, 0.750821594541)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.904345251, -0.000485646005, -0.000159147019, -0.426801365)
+            double3 xformOp:translate = (2.08461754499, 8.34535551357, 0.81856022482)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.214781609, -4.70471146e-05, 0.000508887399, 0.976661968)
+            double3 xformOp:translate = (3.16764996173, 8.43140520158, 0.796960886764)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.71741958, -0.000407947512, -0.00030782892, -0.696641145)
+            double3 xformOp:translate = (3.71628921421, 8.48735480619, 0.752253412228)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702975525, -0.00040154589, -0.000316134013, -0.711213856)
+            double3 xformOp:translate = (2.98659389429, 8.29324180651, 0.761125244111)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0273653076, 4.94494265e-05, 0.000508659582, 0.999625369)
+            double3 xformOp:translate = (2.25896399779, 8.35508733318, 0.82218320373)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.260175788, -0.000193108116, -0.000473169179, -0.965561131)
+            double3 xformOp:translate = (3.50621840321, 8.68953997158, 0.757273814542)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.790669878, -0.000439747207, -0.000260388576, -0.612242504)
+            double3 xformOp:translate = (3.3483958306, 8.39534692468, 0.807683343442)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.100209638, 0, 0, 0.994966345)
+            double3 xformOp:translate = (4.96657512693, 8.41127767311, 0.972877952789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.675665308, -0.000389343208, -0.000331046346, -0.737208336)
+            double3 xformOp:translate = (1.8483284821, 8.26147154573, 0.749537059487)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.179142884, -0.000153171933, -0.000487563509, -0.983822934)
+            double3 xformOp:translate = (2.2871127007, 8.87070314104, 0.746117391431)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0595759576, 0, 0, 0.998223775)
+            double3 xformOp:translate = (4.97060096969, 8.20179907817, 0.996349555384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.548974276, -0.000331344476, -0.00038908952, -0.835839089)
+            double3 xformOp:translate = (2.01411812127, 8.68908831687, 0.7866983714)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702260052, -0.000311026738, 0.000405514716, 0.711920331)
+            double3 xformOp:translate = (3.02200314298, 8.87934113325, 0.804613586132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.673199536, -0.000388235464, -0.000332344762, -0.739460698)
+            double3 xformOp:translate = (2.36380015986, 8.28392241402, 0.744173298645)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.273090057, -7.75458412e-05, 0.000505140039, 0.961988337)
+            double3 xformOp:translate = (1.96370242563, 8.86873181898, 0.870461159029)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.277671174, -0.000201670833, -0.00046958353, -0.960676042)
+            double3 xformOp:translate = (3.72058246843, 8.72172075853, 0.822347352126)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.687615295, -0.00030270344, 0.000411765034, 0.726075027)
+            double3 xformOp:translate = (3.21835125175, 8.56226361963, 0.753178354962)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.386081469, -0.000254226704, -0.000443338019, -0.922464546)
+            double3 xformOp:translate = (2.78031299029, 8.30809674073, 0.746228227108)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.961226735, -0.000469983946, 0.000200735912, 0.275758776)
+            double3 xformOp:translate = (1.86873285636, 8.78026579575, 0.765638402574)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0556599441, -9.14783741e-05, -0.000502803663, -0.998449653)
+            double3 xformOp:translate = (3.54175299896, 8.25133000251, 0.748354163613)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.543979032, -0.000222703091, 0.000459981684, 0.839098654)
+            double3 xformOp:translate = (1.92944867538, 8.48236195404, 0.835779682631)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.852192751, -0.000399013781, 0.000319324003, 0.523227726)
+            double3 xformOp:translate = (2.49188353516, 8.22591513218, 0.835968518122)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999763554, -0.000505618888, 7.43596405e-05, 0.0217387674)
+            double3 xformOp:translate = (2.84897279934, 8.88365642686, 0.840639684115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995024818, -0.000510904327, 1.25134033e-05, -0.0996260506)
+            double3 xformOp:translate = (3.67136194397, 8.27564272497, 0.774964756312)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0085/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0085/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d9b2b5bd714dc4631f762992403bdc5598680a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0085/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1963838530263369776,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 4,
+    "drinkware": 5,
+    "small object": 4,
+    "small_electronics": 1,
+    "electronics": 7,
+    "clock": 6,
+    "writing_instrument": 2,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 201,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.5310157233471893,
+        8.426994829512395,
+        0.7407593715501958
+      ],
+      "rotation_wxyz": [
+        0.9348629073423207,
+        -0.000496573882992356,
+        -0.00012080643596351385,
+        -0.3550085679186454
+      ],
+      "yaw_degrees_local": -41.64665508044982,
+      "yaw_radians": -0.7258463197496077,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5310157233471893,
+        8.426994829512395,
+        0.8907593775106603
+      ],
+      "z_min": 0.7407593715501958,
+      "z_max": 1.0407593834711246
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.63904837760208,
+        8.842891818032914,
+        0.7403238645886926
+      ],
+      "rotation_wxyz": [
+        0.17418723618686963,
+        -2.5951059831448657e-05,
+        0.0005103982354338004,
+        0.9847124176985703
+      ],
+      "yaw_degrees_local": 159.8785594212033,
+      "yaw_radians": 2.791432069385366,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.63904837760208,
+        8.842891818032914,
+        0.7628208763024756
+      ],
+      "z_min": 0.7403238675836271,
+      "z_max": 0.7853178910111932
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.949104049261035,
+        8.767982232004039,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.619849697824641,
+        0.0,
+        0.0,
+        0.7847205566994542
+      ],
+      "yaw_degrees_local": 13.389681113298508,
+      "yaw_radians": 1.8044903480140557,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.949104049261035,
+        8.767982232004039,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.176147882336231,
+        8.701239397808477,
+        0.7944362481778815
+      ],
+      "rotation_wxyz": [
+        0.5735614005522961,
+        -0.00034275652230465514,
+        -0.0003790749037564094,
+        -0.819162412844164
+      ],
+      "yaw_degrees_local": -110.06080329275188,
+      "yaw_radians": -1.9198988182479733,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.176147882336231,
+        8.701239397808477,
+        0.8483564504712797
+      ],
+      "z_min": 0.7405262141980553,
+      "z_max": 0.8483666187848516
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.6693223823331627,
+        8.202893005234932,
+        0.7804418248538388
+      ],
+      "rotation_wxyz": [
+        0.5506458362729965,
+        -0.0003321224480334027,
+        -0.00038842566309734523,
+        -0.834738822515999
+      ],
+      "yaw_degrees_local": -113.23603789967834,
+      "yaw_radians": -1.9753171419830493,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6693223823331627,
+        8.202893005234932,
+        0.8197906841797147
+      ],
+      "z_min": 0.7410958608959025,
+      "z_max": 0.8197935795476542
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.7841008890373324,
+        8.605268369251434,
+        0.7508215945410291
+      ],
+      "rotation_wxyz": [
+        0.9626538060950446,
+        -0.00047102590202705117,
+        0.00019827863187927078,
+        0.27073490434539155
+      ],
+      "yaw_degrees_local": 31.357299012965285,
+      "yaw_radians": 0.5483125478691071,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7841008890373324,
+        8.605268369251434,
+        0.7608589455218479
+      ],
+      "z_min": 0.740799902091527,
+      "z_max": 0.7608746040531644
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.0846175449935362,
+        8.345355513565496,
+        0.8185602248200248
+      ],
+      "rotation_wxyz": [
+        0.904345251125548,
+        -0.0004856460053351764,
+        -0.00015914701926928574,
+        -0.4268013654931923
+      ],
+      "yaw_degrees_local": -50.58819218437134,
+      "yaw_radians": -0.8819055653504541,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0846175449935362,
+        8.345355513565496,
+        0.8962670586534572
+      ],
+      "z_min": 0.741025473542179,
+      "z_max": 0.8964391412090439
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.167649961725399,
+        8.431405201578446,
+        0.7969608867637054
+      ],
+      "rotation_wxyz": [
+        0.21478160933970322,
+        -4.704711457629742e-05,
+        0.000508887399382572,
+        0.9766619676784958
+      ],
+      "yaw_degrees_local": 155.13585604054026,
+      "yaw_radians": 2.7086563171119535,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.167649961725399,
+        8.431405201578446,
+        0.853143166573598
+      ],
+      "z_min": 0.7408009665937412,
+      "z_max": 0.8531655262135265
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.7162892142067543,
+        8.487354806186449,
+        0.7522534122284663
+      ],
+      "rotation_wxyz": [
+        0.7174195801925488,
+        -0.000407947511701778,
+        -0.00030782891991598254,
+        -0.6966411449064224
+      ],
+      "yaw_degrees_local": -88.37500483017313,
+      "yaw_radians": -1.541410041619939,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7162892142067543,
+        8.487354806186449,
+        0.7637661666519168
+      ],
+      "z_min": 0.7406746842090152,
+      "z_max": 0.763700193055916
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        2.986593894290762,
+        8.29324180650673,
+        0.7611252441109213
+      ],
+      "rotation_wxyz": [
+        0.7029755253990504,
+        -0.0004015458902378215,
+        -0.00031613401315490873,
+        -0.711213856382251
+      ],
+      "yaw_degrees_local": -90.72625362418077,
+      "yaw_radians": -1.5824470952836511,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.986593894290762,
+        8.29324180650673,
+        0.7811558737955299
+      ],
+      "z_min": 0.7409640175570864,
+      "z_max": 0.7810252769263035
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.2589639977863336,
+        8.355087333181553,
+        0.8221832037297498
+      ],
+      "rotation_wxyz": [
+        0.027365307625244827,
+        4.944942645359701e-05,
+        0.0005086595821015494,
+        0.9996253692052636
+      ],
+      "yaw_degrees_local": 176.8050643917352,
+      "yaw_radians": 3.086855161748864,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2589639977863336,
+        8.355087333181553,
+        0.9034270570231149
+      ],
+      "z_min": 0.7409935152358632,
+      "z_max": 0.9034812218225932
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        3.5062184032079466,
+        8.689539971579032,
+        0.7572738145419271
+      ],
+      "rotation_wxyz": [
+        0.26017578761954435,
+        -0.00019310811593873772,
+        -0.0004731691788344879,
+        -0.9655611313411149
+      ],
+      "yaw_degrees_local": -149.89772036205656,
+      "yaw_radians": -2.6151843231881378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5062184032079466,
+        8.689539971579032,
+        0.7742248297343326
+      ],
+      "z_min": 0.7404962404312748,
+      "z_max": 0.7743982708160857
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        3.348395830596287,
+        8.395346924679494,
+        0.8076833434424936
+      ],
+      "rotation_wxyz": [
+        0.7906698776226462,
+        -0.00043974720652845633,
+        -0.0002603885761525106,
+        -0.6122425037845493
+      ],
+      "yaw_degrees_local": -75.56237763175237,
+      "yaw_radians": -1.3177874112849874,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.348395830596287,
+        8.395346924679494,
+        0.8745346484747749
+      ],
+      "z_min": 0.7408146429481738,
+      "z_max": 0.8745172530127364
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        4.9665751269317715,
+        8.411277673110924,
+        0.9728779527886744
+      ],
+      "rotation_wxyz": [
+        0.10020963849074344,
+        0.0,
+        0.0,
+        0.9949663453371449
+      ],
+      "yaw_degrees_local": 78.49751496573026,
+      "yaw_radians": 2.9408364175804134,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9665751269317715,
+        8.411277673110924,
+        1.0254269816478925
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.025298086614768
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000012_obj_002_blue_lab_notebook_53a3f723/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17380813937179584,
+        0.236489187911067,
+        0.01690050466925439
+      ],
+      "bbox_min_m": [
+        -0.08672204870025906,
+        -0.11819200461569901,
+        -0.008396606151328739
+      ],
+      "bbox_max_m": [
+        0.08708609067153673,
+        0.11829718329536795,
+        0.00850389851792564
+      ],
+      "translation_world": [
+        1.848328482095855,
+        8.261471545732057,
+        0.7495370594868668
+      ],
+      "rotation_wxyz": [
+        0.67566530772081,
+        -0.0003893432075048834,
+        -0.0003310463457132882,
+        -0.7372083360643227
+      ],
+      "yaw_degrees_local": -95.04702370203526,
+      "yaw_radians": -1.6578587982775648,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.848328482095855,
+        8.261471545732057,
+        0.7579873118214939
+      ],
+      "z_min": 0.741140453335538,
+      "z_max": 0.7580409580047924
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.2871127007027487,
+        8.870703141036607,
+        0.7461173914312851
+      ],
+      "rotation_wxyz": [
+        0.17914288413139884,
+        -0.00015317193273971144,
+        -0.00048756350895149433,
+        -0.9838229342139103
+      ],
+      "yaw_degrees_local": -159.41902925524553,
+      "yaw_radians": -2.781362476014472,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2871127007027487,
+        8.870703141036607,
+        0.7517662426445672
+      ],
+      "z_min": 0.7404669551614982,
+      "z_max": 0.7517646575880624
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        4.970600969694606,
+        8.201799078167179,
+        0.9963495553835341
+      ],
+      "rotation_wxyz": [
+        0.05957595762310014,
+        0.0,
+        0.0,
+        0.9982237751492853
+      ],
+      "yaw_degrees_local": 83.16905322389562,
+      "yaw_radians": 3.0223701413182797,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.970600969694606,
+        8.201799078167179,
+        1.0725354939056202
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0725719059405041
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        2.0141181212674235,
+        8.689088316870194,
+        0.7866983714003347
+      ],
+      "rotation_wxyz": [
+        0.5489742758639126,
+        -0.0003313444755792766,
+        -0.0003890895202179144,
+        -0.8358390893347097
+      ],
+      "yaw_degrees_local": -113.46535572795865,
+      "yaw_radians": -1.9793194948863897,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0141181212674235,
+        8.689088316870194,
+        0.8328967859012145
+      ],
+      "z_min": 0.740685764562718,
+      "z_max": 0.8330825935644777
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.022003142976098,
+        8.879341133252513,
+        0.8046135861319569
+      ],
+      "rotation_wxyz": [
+        0.7022600519460265,
+        -0.0003110267377331239,
+        0.0004055147157075846,
+        0.7119203314001843
+      ],
+      "yaw_degrees_local": 90.72405341940635,
+      "yaw_radians": 1.5844582041896242,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.022003142976098,
+        8.879341133252513,
+        0.8688025402196774
+      ],
+      "z_min": 0.7403651133986904,
+      "z_max": 0.8687430215741314
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        2.3638001598593488,
+        8.283922414015688,
+        0.7441732986450627
+      ],
+      "rotation_wxyz": [
+        0.6731995360366008,
+        -0.00038823546367597637,
+        -0.00033234476223435846,
+        -0.7394606977387571
+      ],
+      "yaw_degrees_local": -95.42971793129169,
+      "yaw_radians": -1.6645380760874255,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3638001598593488,
+        8.283922414015688,
+        0.7471858151302221
+      ],
+      "z_min": 0.7410523693475972,
+      "z_max": 0.747077402317916
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.9637024256344273,
+        8.868731818984957,
+        0.8704611590293124
+      ],
+      "rotation_wxyz": [
+        0.27309005681891096,
+        -7.754584118511765e-05,
+        0.0005051400387567839,
+        0.9619883365648607
+      ],
+      "yaw_degrees_local": 148.24483273129948,
+      "yaw_radians": 2.5883853179182736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9637024256344273,
+        8.868731818984957,
+        1.0006283085440817
+      ],
+      "z_min": 0.7405099959136763,
+      "z_max": 1.0008442949432146
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.7205824684317745,
+        8.721720758529969,
+        0.822347352125968
+      ],
+      "rotation_wxyz": [
+        0.27767117428245136,
+        -0.00020167083261443956,
+        -0.0004695835298569481,
+        -0.9606760420624574
+      ],
+      "yaw_degrees_local": -147.81618177005348,
+      "yaw_radians": -2.5788546256328546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7205824684317745,
+        8.721720758529969,
+        0.9042833611667869
+      ],
+      "z_min": 0.7404364754974408,
+      "z_max": 0.9043084935790784
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.218351251748698,
+        8.562263619633205,
+        0.7531783549621559
+      ],
+      "rotation_wxyz": [
+        0.6876152952846893,
+        -0.00030270344030735067,
+        0.0004117650342931109,
+        0.7260750267780414
+      ],
+      "yaw_degrees_local": 93.05800738306885,
+      "yaw_radians": 1.6251934056606743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.218351251748698,
+        8.562263619633205,
+        0.7657470212211853
+      ],
+      "z_min": 0.7406617990676733,
+      "z_max": 0.765799131585732
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.7803129902880412,
+        8.308096740725476,
+        0.746228227108165
+      ],
+      "rotation_wxyz": [
+        0.3860814692801618,
+        -0.0002542267039537179,
+        -0.0004433380191649949,
+        -0.9224645456052257
+      ],
+      "yaw_degrees_local": -134.636912917052,
+      "yaw_radians": -2.3488329871819547,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7803129902880412,
+        8.308096740725476,
+        0.7514641424262986
+      ],
+      "z_min": 0.7409750794390839,
+      "z_max": 0.7514469100753509
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        1.8687328563592964,
+        8.780265795753536,
+        0.765638402573574
+      ],
+      "rotation_wxyz": [
+        0.9612267349763158,
+        -0.0004699839464631962,
+        0.0002007359118523444,
+        0.2757587764459285
+      ],
+      "yaw_degrees_local": 31.95576863258276,
+      "yaw_radians": 0.5587578120396579,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8687328563592964,
+        8.780265795753536,
+        0.7905826441436993
+      ],
+      "z_min": 0.740611698943544,
+      "z_max": 0.7905001820837946
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.541752998955085,
+        8.251330002507618,
+        0.7483541636130966
+      ],
+      "rotation_wxyz": [
+        0.05565994414257386,
+        -9.147837413071638e-05,
+        -0.0005028036627817196,
+        -0.9984496529310978
+      ],
+      "yaw_degrees_local": -173.67725192300944,
+      "yaw_radians": -3.0302153103413407,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.541752998955085,
+        8.251330002507618,
+        0.755894066256196
+      ],
+      "z_min": 0.7409361799201848,
+      "z_max": 0.7560159852063837
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.929448675378885,
+        8.482361954036618,
+        0.8357796826308592
+      ],
+      "rotation_wxyz": [
+        0.5439790322320225,
+        -0.00022270309118118135,
+        0.0004599816837860602,
+        0.8390986540998003
+      ],
+      "yaw_degrees_local": 114.03143618452032,
+      "yaw_radians": 1.9912489338233668,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.929448675378885,
+        8.482361954036618,
+        0.9306765286950628
+      ],
+      "z_min": 0.7409061863284445,
+      "z_max": 0.9306998784568518
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.49188353515692,
+        8.225915132182422,
+        0.8359685181224745
+      ],
+      "rotation_wxyz": [
+        0.852192751375624,
+        -0.0003990137811090104,
+        0.0003193240027392293,
+        0.5232277260648825
+      ],
+      "yaw_degrees_local": 63.03932095293342,
+      "yaw_radians": 1.101268232620663,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.49188353515692,
+        8.225915132182422,
+        0.9308653641866781
+      ],
+      "z_min": 0.7410950218200598,
+      "z_max": 0.9308887139484671
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.8489727993395877,
+        8.88365642686212,
+        0.8406396841151538
+      ],
+      "rotation_wxyz": [
+        0.999763554453111,
+        -0.0005056188881976498,
+        7.43596405188005e-05,
+        0.02173876738606345
+      ],
+      "yaw_degrees_local": 2.432565397151933,
+      "yaw_radians": 0.04348087957547934,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8489727993395877,
+        8.88365642686212,
+        0.9408565641778037
+      ],
+      "z_min": 0.7403826786368752,
+      "z_max": 0.9408164387621752
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.6713619439684293,
+        8.275642724966293,
+        0.7749647563115823
+      ],
+      "rotation_wxyz": [
+        0.9950248182104319,
+        -0.0005109043266397969,
+        1.2513403256044598e-05,
+        -0.09962605063677381
+      ],
+      "yaw_degrees_local": -11.493986366275408,
+      "yaw_radians": -0.19958317696230837,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6713619439684293,
+        8.275642724966293,
+        0.8089633124822612
+      ],
+      "z_min": 0.7408951134979566,
+      "z_max": 0.8088922258393142
+    }
+  ],
+  "variant_index": 85
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0086/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0086/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..2b20f5fa17b41eb5e8a3387b3e829d9064ee5688
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0086/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7672153684731143526
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.846724092, -0.000395682781, 0.000323442349, 0.532032002)
+            double3 xformOp:translate = (3.53200433842, 8.36234988061, 0.740824808284)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.597694087, -0.000353889865, -0.000368702833, -0.801724091)
+            double3 xformOp:translate = (1.78787219682, 8.49744252277, 0.740908779471)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.820751104, -0.000452407241, -0.000237713071, -0.571285711)
+            double3 xformOp:translate = (1.90454115532, 8.34073378773, 0.751074634109)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.313692566, -9.89256144e-05, 0.000501391603, 0.949524467)
+            double3 xformOp:translate = (3.21909641889, 8.48524489157, 0.810911521783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.785750775, -0.000437651792, -0.000263895292, -0.618543012)
+            double3 xformOp:translate = (1.87807363302, 8.6815512549, 0.793388573257)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970855906, -0.000477153714, 0.000183041387, 0.239663406)
+            double3 xformOp:translate = (1.94660930538, 8.20159489102, 0.841445783337)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0853421331, -0.000106397771, -0.000499859311, -0.996351574)
+            double3 xformOp:translate = (2.45519542813, 8.28394099007, 0.756246454053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.848688177, -0.000396877638, 0.000321975087, 0.528893295)
+            double3 xformOp:translate = (3.42526262383, 8.85090884583, 0.752859385783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.613135486, -0.000260885278, 0.000439452714, 0.789977604)
+            double3 xformOp:translate = (3.6114215823, 8.19254706744, 0.788566796468)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.562115736, -0.000232663258, 0.000455024862, 0.827058425)
+            double3 xformOp:translate = (1.87654343064, 8.83800369116, 0.754881168456)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.935744613, -0.000452188683, 0.000238128561, 0.352677979)
+            double3 xformOp:translate = (2.06217509966, 8.82950585933, 0.840794293513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.373757231, -0.000248297559, -0.000446685727, -0.927526426)
+            double3 xformOp:translate = (2.66209615762, 8.88279039242, 0.810578890902)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.113925058, 5.16486702e-06, 0.000511031448, 0.993489215)
+            double3 xformOp:translate = (2.10106999814, 8.91933247496, 0.767040449061)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952318506, -0.000502264492, -9.43938361e-05, -0.305105231)
+            double3 xformOp:translate = (2.85941697925, 8.20451346887, 0.746357325533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.110762971, 6.79105997e-06, 0.000511012424, 0.99384672)
+            double3 xformOp:translate = (3.71208406328, 8.46927481828, 0.749727462562)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.960038204, -0.000469120869, 0.000202744732, 0.279868516)
+            double3 xformOp:translate = (3.52531550724, 8.57549716335, 0.835483023789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.79351158, -0.00044095467, -0.000258338529, -0.608554937)
+            double3 xformOp:translate = (2.01395710953, 8.63680886626, 0.835612330289)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.384375595, -0.000136439254, 0.000492508016, 0.923176657)
+            double3 xformOp:translate = (3.27592264807, 8.25719546914, 0.752764475147)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.960492984, -0.000469450625, 0.000201980016, 0.278303731)
+            double3 xformOp:translate = (1.88742103261, 8.54835388881, 0.774914191186)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0919451082, 1.64553559e-05, 0.000510792558, 0.995763946)
+            double3 xformOp:translate = (3.34597793145, 8.59759585545, 0.840829325911)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.968114819, -0.000475076758, 0.000188366373, 0.25050636)
+            double3 xformOp:translate = (3.17691918298, 8.79282323401, 0.788013029005)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.132488707, -0.000129979207, -0.000494252185, -0.991184383)
+            double3 xformOp:translate = (1.72820695605, 8.35065077486, 0.750099134336)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.514470537, -0.000206572626, 0.000467447929, 0.857507904)
+            double3 xformOp:translate = (2.2805703105, 8.22653008414, 0.781684671816)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.537328004, 0, 0, 0.843373355)
+            double3 xformOp:translate = (4.96987200382, 8.24356630772, 1.00658728594)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0197457134, 5.33248179e-05, 0.000508267922, 0.999804904)
+            double3 xformOp:translate = (3.6304223481, 8.80484415897, 0.747344556917)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987282515, -0.000490595579, 0.000143163522, 0.15897476)
+            double3 xformOp:translate = (2.03431052067, 8.33498237208, 0.746692766993)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973769485, -0.000508228586, -5.36984191e-05, -0.227536215)
+            double3 xformOp:translate = (2.97062078278, 8.26911986241, 0.772822405398)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.336044086, -0.000230079782, -0.00045633662, -0.941846119)
+            double3 xformOp:translate = (3.36163999964, 8.30491750129, 0.786917277271)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999982348, -0.000507482021, 6.03474519e-05, -0.00591969844)
+            double3 xformOp:translate = (2.32039196026, 8.88035079433, 0.817987742509)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.51763486, -0.000208298078, 0.000466681612, 0.855601479)
+            double3 xformOp:translate = (1.73458687635, 8.68769040068, 0.788045654896)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0086/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0086/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9fa85ffb9e979f99b7268bde6af9b9aced923f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0086/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7672153684731143526,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "electronics": 4,
+    "small object": 6,
+    "drinkware/container": 2,
+    "paper goods": 2,
+    "book": 3,
+    "office_supplies": 1,
+    "clock": 3,
+    "small prop": 1,
+    "office_supply": 1,
+    "writing_instrument": 1
+  },
+  "failed_sampling_attempt_count": 180,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.532004338419134,
+        8.362349880612815,
+        0.7408248082839012
+      ],
+      "rotation_wxyz": [
+        0.8467240918834946,
+        -0.00039568278096068963,
+        0.000323442348945724,
+        0.5320320018986221
+      ],
+      "yaw_degrees_local": 64.22700317100472,
+      "yaw_radians": 1.1219972062815515,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.532004338419134,
+        8.362349880612815,
+        0.7633218199976842
+      ],
+      "z_min": 0.7408248112788357,
+      "z_max": 0.7858188347064018
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7878721968231317,
+        8.497442522766907,
+        0.7409087794707322
+      ],
+      "rotation_wxyz": [
+        0.597694086818831,
+        -0.0003538898653807825,
+        -0.00036870283348664986,
+        -0.8017240905710566
+      ],
+      "yaw_degrees_local": -106.64884591149205,
+      "yaw_radians": -1.8603488992547443,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7878721968231317,
+        8.497442522766907,
+        0.7909088733480477
+      ],
+      "z_min": 0.7409087794707322,
+      "z_max": 0.8409089672253632
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.9045411553173333,
+        8.340733787729379,
+        0.7510746341089567
+      ],
+      "rotation_wxyz": [
+        0.8207511041787108,
+        -0.0004524072414207563,
+        -0.0002377130710549467,
+        -0.5712857111897787
+      ],
+      "yaw_degrees_local": -69.73858293990966,
+      "yaw_radians": -1.2161429842190905,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9045411553173333,
+        8.340733787729379,
+        0.7611119850897754
+      ],
+      "z_min": 0.7410529416594546,
+      "z_max": 0.761127643621092
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.2190964188883084,
+        8.48524489157276,
+        0.8109115217833625
+      ],
+      "rotation_wxyz": [
+        0.3136925659819504,
+        -9.892561437694139e-05,
+        0.0005013916025029311,
+        0.9495244667031197
+      ],
+      "yaw_degrees_local": 143.3774781746365,
+      "yaw_radians": 2.5034339810824413,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2190964188883084,
+        8.48524489157276,
+        0.8810878880152813
+      ],
+      "z_min": 0.7407398496431423,
+      "z_max": 0.88109258210698
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        1.8780736330165961,
+        8.681551254900821,
+        0.793388573256615
+      ],
+      "rotation_wxyz": [
+        0.785750775462707,
+        -0.0004376517919528537,
+        -0.0002638952921913702,
+        -0.6185430119886076
+      ],
+      "yaw_degrees_local": -76.47835296119753,
+      "yaw_radians": -1.3337742028253619,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8780736330165961,
+        8.681551254900821,
+        0.8459376021158331
+      ],
+      "z_min": 0.7407106493642724,
+      "z_max": 0.8458087070827087
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.9466093053810374,
+        8.201594891017981,
+        0.8414457833374651
+      ],
+      "rotation_wxyz": [
+        0.9708559062180256,
+        -0.0004771537141858484,
+        0.00018304138679261123,
+        0.23966340601301672
+      ],
+      "yaw_degrees_local": 27.674643618282886,
+      "yaw_radians": 0.48403809560598793,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9466093053810374,
+        8.201594891017981,
+        0.9416626634001151
+      ],
+      "z_min": 0.7411887778591866,
+      "z_max": 0.9416225379844866
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        2.455195428131196,
+        8.283940990067205,
+        0.7562464540525283
+      ],
+      "rotation_wxyz": [
+        0.0853421330560759,
+        -0.0001063977713081826,
+        -0.0004998593107074873,
+        -0.9963515740669169
+      ],
+      "yaw_degrees_local": -170.2673108586751,
+      "yaw_radians": -2.9707006382639096,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.455195428131196,
+        8.283940990067205,
+        0.7714149310050598
+      ],
+      "z_min": 0.741040776936865,
+      "z_max": 0.7713777308419278
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.425262623834064,
+        8.850908845833136,
+        0.7528593857832278
+      ],
+      "rotation_wxyz": [
+        0.8486881765005971,
+        -0.00039687763837435583,
+        0.0003219750866118474,
+        0.5288932953708859
+      ],
+      "yaw_degrees_local": 63.80271832872782,
+      "yaw_radians": 1.1145920357533114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.425262623834064,
+        8.850908845833136,
+        0.7654280520422572
+      ],
+      "z_min": 0.7403428298887451,
+      "z_max": 0.7654801624068038
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.611421582295633,
+        8.192547067438591,
+        0.7885667964680693
+      ],
+      "rotation_wxyz": [
+        0.6131354863220511,
+        -0.00026088527777988653,
+        0.0004394527142685821,
+        0.7899776036273473
+      ],
+      "yaw_degrees_local": 104.30814599671919,
+      "yaw_radians": 1.821545452456264,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.611421582295633,
+        8.192547067438591,
+        0.8359657218961697
+      ],
+      "z_min": 0.7409869933557696,
+      "z_max": 0.8357848442119705
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        1.8765434306379438,
+        8.838003691156802,
+        0.7548811684555831
+      ],
+      "rotation_wxyz": [
+        0.5621157359090105,
+        -0.00023266325807248746,
+        0.00045502486150034453,
+        0.8270584249396505
+      ],
+      "yaw_degrees_local": 111.53679615941314,
+      "yaw_radians": 1.9477092403400473,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8765434306379438,
+        8.838003691156802,
+        0.7689774700879889
+      ],
+      "z_min": 0.740552144115621,
+      "z_max": 0.7687447473804326
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.0621750996586607,
+        8.829505859331032,
+        0.8407942935132576
+      ],
+      "rotation_wxyz": [
+        0.9357446134627971,
+        -0.00045218868271588026,
+        0.00023812856079015308,
+        0.3526779794593708
+      ],
+      "yaw_degrees_local": 41.243695320645315,
+      "yaw_radians": 0.7208627098384061,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0621750996586607,
+        8.829505859331032,
+        0.9410111735759077
+      ],
+      "z_min": 0.7405372880349791,
+      "z_max": 0.9409710481602791
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.6620961576152724,
+        8.882790392423592,
+        0.8105788909016038
+      ],
+      "rotation_wxyz": [
+        0.3737572310490499,
+        -0.00024829755897763704,
+        -0.00044668572670957316,
+        -0.9275264260702932
+      ],
+      "yaw_degrees_local": -136.1636585101466,
+      "yaw_radians": -2.375479727884499,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6620961576152724,
+        8.882790392423592,
+        0.8807552571335227
+      ],
+      "z_min": 0.7404072187613837,
+      "z_max": 0.8807599512252214
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.1010699981374863,
+        8.919332474961642,
+        0.7670404490606043
+      ],
+      "rotation_wxyz": [
+        0.11392505826231686,
+        5.164867019716425e-06,
+        0.0005110314475538479,
+        0.993489214798083
+      ],
+      "yaw_degrees_local": 166.858031966755,
+      "yaw_radians": 2.9132467853077495,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1010699981374863,
+        8.919332474961642,
+        0.7936149337166784
+      ],
+      "z_min": 0.7404412164879386,
+      "z_max": 0.7935901858000866
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.859416979248251,
+        8.2045134688707,
+        0.7463573255334675
+      ],
+      "rotation_wxyz": [
+        0.9523185058714028,
+        -0.0005022644920297648,
+        -9.439383606144466e-05,
+        -0.3051052313465682
+      ],
+      "yaw_degrees_local": -35.58770518632335,
+      "yaw_radians": -0.6200977200215632,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.859416979248251,
+        8.2045134688707,
+        0.7516583161645809
+      ],
+      "z_min": 0.7410701143801998,
+      "z_max": 0.7516720956424268
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.7120840632799896,
+        8.469274818281152,
+        0.7497274625623375
+      ],
+      "rotation_wxyz": [
+        0.11076297121905096,
+        6.791059968765701e-06,
+        0.0005110124242568015,
+        0.9938467200866095
+      ],
+      "yaw_degrees_local": 167.22268916629878,
+      "yaw_radians": 2.919611250823814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7120840632799896,
+        8.469274818281152,
+        0.7585607086658197
+      ],
+      "z_min": 0.7406935529825381,
+      "z_max": 0.7583600451895026
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.5253155072387945,
+        8.575497163353397,
+        0.8354830237890915
+      ],
+      "rotation_wxyz": [
+        0.9600382035998153,
+        -0.00046912086897987347,
+        0.00020274473242942953,
+        0.27986851635906373
+      ],
+      "yaw_degrees_local": 32.44600896965895,
+      "yaw_radians": 0.5673141191765914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5253155072387945,
+        8.575497163353397,
+        0.930379869853295
+      ],
+      "z_min": 0.7406095274866767,
+      "z_max": 0.930403219615084
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.0139571095335422,
+        8.636808866255484,
+        0.8356123302894983
+      ],
+      "rotation_wxyz": [
+        0.7935115801968708,
+        -0.00044095466986358124,
+        -0.00025833852861277334,
+        -0.60855493664389
+      ],
+      "yaw_degrees_local": -75.0288992194489,
+      "yaw_radians": -1.3084764529897206,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0139571095335422,
+        8.636808866255484,
+        0.9305091763537019
+      ],
+      "z_min": 0.7407388339870836,
+      "z_max": 0.9305325261154909
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.275922648065475,
+        8.25719546913891,
+        0.7527644751472223
+      ],
+      "rotation_wxyz": [
+        0.38437559516848135,
+        -0.00013643925436019754,
+        0.0004925080162900355,
+        0.9231766573408687
+      ],
+      "yaw_degrees_local": 134.7313195106201,
+      "yaw_radians": 2.3525300747555873,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.275922648065475,
+        8.25719546913891,
+        0.7646357456937921
+      ],
+      "z_min": 0.740963914267773,
+      "z_max": 0.7647064553609124
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.8874210326147298,
+        8.548353888810608,
+        0.7749141911863068
+      ],
+      "rotation_wxyz": [
+        0.9604929837759429,
+        -0.00046945062523865783,
+        0.00020198001560388558,
+        0.27830373144708326
+      ],
+      "yaw_degrees_local": 32.259278231720515,
+      "yaw_radians": 0.5640550533078521,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8874210326147298,
+        8.548353888810608,
+        0.8089127473569856
+      ],
+      "z_min": 0.740844548372681,
+      "z_max": 0.8088416607140386
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.345977931450304,
+        8.59759585545087,
+        0.840829325910585
+      ],
+      "rotation_wxyz": [
+        0.09194510820543801,
+        1.645535586108843e-05,
+        0.000510792558191481,
+        0.9957639458713466
+      ],
+      "yaw_degrees_local": 169.39025290260167,
+      "yaw_radians": 2.9574423552571565,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.345977931450304,
+        8.59759585545087,
+        0.9409180270025981
+      ],
+      "z_min": 0.7406098393463897,
+      "z_max": 0.9407872415304157
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.17691918297831,
+        8.79282323400536,
+        0.7880130290054421
+      ],
+      "rotation_wxyz": [
+        0.9681148187235398,
+        -0.000475076757926241,
+        0.00018836637257908974,
+        0.25050636037448604
+      ],
+      "yaw_degrees_local": 28.956249448780596,
+      "yaw_radians": 0.5064063332552285,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.17691918297831,
+        8.79282323400536,
+        0.8354119544335425
+      ],
+      "z_min": 0.7404332258931424,
+      "z_max": 0.8352310767493434
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        1.7282069560492084,
+        8.350650774860448,
+        0.7500991343364397
+      ],
+      "rotation_wxyz": [
+        0.13248870737134993,
+        -0.00012997920706655478,
+        -0.0004942521845886595,
+        -0.9911843830686865
+      ],
+      "yaw_degrees_local": -164.8318504897794,
+      "yaw_radians": -2.8758339967768864,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7282069560492084,
+        8.350650774860448,
+        0.758932380439922
+      ],
+      "z_min": 0.7410652247566404,
+      "z_max": 0.7587317169636049
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.2805703104959067,
+        8.226530084140279,
+        0.7816846718155354
+      ],
+      "rotation_wxyz": [
+        0.5144705365213535,
+        -0.00020657262615548673,
+        0.00046744792903973605,
+        0.8575079042618875
+      ],
+      "yaw_degrees_local": 118.01713765174418,
+      "yaw_radians": 2.0608125619595565,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2805703104959067,
+        8.226530084140279,
+        0.8222346809550669
+      ],
+      "z_min": 0.7411211433689704,
+      "z_max": 0.8222211616480334
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        4.969872003816535,
+        8.24356630772339,
+        1.0065872859386928
+      ],
+      "rotation_wxyz": [
+        -0.5373280037716266,
+        0.0,
+        0.0,
+        0.8433733552601712
+      ],
+      "yaw_degrees_local": 155.00385812650939,
+      "yaw_radians": -2.0070613027829323,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.969872003816535,
+        8.24356630772339,
+        1.0929865648969594
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0929985868128653
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.63042234810419,
+        8.804844158965333,
+        0.7473445569168091
+      ],
+      "rotation_wxyz": [
+        0.01974571336255922,
+        5.33248178972392e-05,
+        0.0005082679215104362,
+        0.9998049037807264
+      ],
+      "yaw_degrees_local": 177.6784501463829,
+      "yaw_radians": 3.102098610939853,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.63042234810419,
+        8.804844158965333,
+        0.7543278377256497
+      ],
+      "z_min": 0.7403635533179274,
+      "z_max": 0.7543301149356085
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.0343105206740986,
+        8.33498237207986,
+        0.7466927669927033
+      ],
+      "rotation_wxyz": [
+        0.9872825149818378,
+        -0.0004905955791664162,
+        0.00014316352168999334,
+        0.15897476035937674
+      ],
+      "yaw_degrees_local": 18.23607732367887,
+      "yaw_radians": 0.31930407957886037,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0343105206740986,
+        8.33498237207986,
+        0.7523416182059853
+      ],
+      "z_min": 0.7410423307229164,
+      "z_max": 0.7523400331494806
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        2.9706207827806237,
+        8.269119862407262,
+        0.7728224053983047
+      ],
+      "rotation_wxyz": [
+        0.9737694848486205,
+        -0.0005082285863977058,
+        -5.369841905030742e-05,
+        -0.227536215134726
+      ],
+      "yaw_degrees_local": -26.362837315261572,
+      "yaw_radians": -0.4590934590846008,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9706207827806237,
+        8.269119862407262,
+        0.8046736231417766
+      ],
+      "z_min": 0.7409905127163859,
+      "z_max": 0.8046929482033297
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.3616399996419766,
+        8.30491750128787,
+        0.7869172772713316
+      ],
+      "rotation_wxyz": [
+        0.33604408590348916,
+        -0.00023007978162210035,
+        -0.00045633661953544687,
+        -0.9418461186146453
+      ],
+      "yaw_degrees_local": -140.78662353239923,
+      "yaw_radians": -2.4561656941559997,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3616399996419766,
+        8.30491750128787,
+        0.8331156917722115
+      ],
+      "z_min": 0.7409046704337149,
+      "z_max": 0.8333014994354746
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.3203919602584686,
+        8.880350794328308,
+        0.817987742508951
+      ],
+      "rotation_wxyz": [
+        0.9999823478394636,
+        -0.0005074820206621358,
+        6.0347451851657785e-05,
+        -0.005919698443175289
+      ],
+      "yaw_degrees_local": -0.737061943350767,
+      "yaw_radians": -0.01183952582151132,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3203919602584686,
+        8.880350794328308,
+        0.8956945763423835
+      ],
+      "z_min": 0.7404529912311052,
+      "z_max": 0.8958666588979701
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.734586876348796,
+        8.687690400675102,
+        0.7880456548955022
+      ],
+      "rotation_wxyz": [
+        0.5176348600018583,
+        -0.00020829807817238387,
+        0.0004666816118833097,
+        0.855601478803678
+      ],
+      "yaw_degrees_local": 117.59380875973824,
+      "yaw_radians": 2.053424077653322,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.734586876348796,
+        8.687690400675102,
+        0.8354117815567571
+      ],
+      "z_min": 0.7407225999807524,
+      "z_max": 0.8354548533032624
+    }
+  ],
+  "variant_index": 86
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0087/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0087/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..21071f40b6ba74a2cf982c28f4d579b265a61955
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0087/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4716339420792015238
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973802256, -0.000479425007, 0.000177007002, 0.22739592)
+            double3 xformOp:translate = (3.41580308684, 8.53477582222, 0.740664654169)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.92066504, -0.000442154844, 0.000256278969, 0.390353203)
+            double3 xformOp:translate = (2.83264098244, 8.27441439247, 0.741002608401)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.720140945, -0.000321240607, 0.000397472374, 0.693827614)
+            double3 xformOp:translate = (3.54538878049, 8.7406564752, 0.808492795405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.365869107, -0.000126579854, 0.000495133676, 0.930666178)
+            double3 xformOp:translate = (1.77863631249, 8.2319983207, 0.806483519314)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.584314451, -0.000244904494, 0.000448555019, 0.811527178)
+            double3 xformOp:translate = (2.56677523591, 8.27523193032, 0.766062181419)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978265527, -0.000509230141, -4.31796227e-05, -0.207355486)
+            double3 xformOp:translate = (2.36848139995, 8.27109893192, 0.800063242246)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.971811649, -0.000507756594, -5.79918722e-05, -0.235758049)
+            double3 xformOp:translate = (1.83095875206, 8.78457101309, 0.759229399549)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.911963421, -0.000436480299, 0.00026582845, 0.4102712)
+            double3 xformOp:translate = (3.55334502958, 8.40121332742, 0.780128675342)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.454124935, -0.000173852602, 0.00048057787, 0.890937867)
+            double3 xformOp:translate = (1.6894333214, 8.88407977264, 0.746218915548)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997671757, -0.000501614962, 9.77867373e-05, 0.0681968071)
+            double3 xformOp:translate = (3.43122495831, 8.87550259516, 0.748484279779)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.79413674, -0.000364218822, 0.00035850309, 0.607738905)
+            double3 xformOp:translate = (3.59710794386, 8.29408140102, 0.747544229412)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.109601084, -0.000118549348, -0.00049711756, -0.993975523)
+            double3 xformOp:translate = (3.03137790339, 8.81740810287, 0.746366962283)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0664494902, -9.69081141e-05, -0.000501785446, -0.997789659)
+            double3 xformOp:translate = (3.26895779754, 8.27599181053, 0.780302820777)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.808673047, -0.000447357479, -0.000247085213, -0.588258143)
+            double3 xformOp:translate = (2.20286375853, 8.25704977162, 0.751121711323)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.938973376, -0.000454376463, 0.00023392701, 0.343989445)
+            double3 xformOp:translate = (1.7464470459, 8.58739966758, 0.788346618834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998657731, -0.000509716361, 3.70006485e-05, -0.0517926155)
+            double3 xformOp:translate = (1.8483070437, 8.45173860214, 0.74623469061)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.511546689, -0.000204979196, 0.00046814885, 0.859255331)
+            double3 xformOp:translate = (1.96927767611, 8.28658525605, 0.775350711044)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989990777, -0.000510980854, -8.85340115e-06, -0.141131144)
+            double3 xformOp:translate = (2.03597750499, 8.79331492369, 0.781140810576)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984898777, -0.00051042579, -2.54033202e-05, -0.173130409)
+            double3 xformOp:translate = (3.03875095118, 8.29161932358, 0.772790953552)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99585791, -0.000499255495, 0.000109196, 0.0909217303)
+            double3 xformOp:translate = (3.69158565291, 8.5487652168, 0.748609762709)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00939695379, 5.85823931e-05, 0.000507688802, 0.999955717)
+            double3 xformOp:translate = (3.27314658947, 8.86338948139, 0.810521147155)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.572869152, -0.00034243615, -0.000379364336, -0.819646676)
+            double3 xformOp:translate = (3.42162728353, 8.22957187559, 0.746663267602)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.597407926, -0.000252151924, 0.000444521342, 0.801937348)
+            double3 xformOp:translate = (1.69200989707, 8.46952518102, 0.740949239998)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.449417273, -0.000171314248, 0.000481488572, 0.893321808)
+            double3 xformOp:translate = (3.70027001235, 8.80451435204, 0.816504600659)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.864278799, -0.000406423434, 0.000309838359, 0.503012819)
+            double3 xformOp:translate = (3.5165615132, 8.24114738559, 0.788372769718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.601349697, -0.000355570211, -0.000367082609, -0.798985782)
+            double3 xformOp:translate = (1.9771484525, 8.5774403606, 0.787899934453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.189765811, -0.000158432687, -0.000485879512, -0.98182925)
+            double3 xformOp:translate = (2.18314206274, 8.9007399588, 0.787772740734)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0193669456, 5.35173664e-05, 0.000508247683, 0.999812313)
+            double3 xformOp:translate = (3.1640920564, 8.42357143562, 0.841066391155)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.505189105, -0.000310861515, -0.000405641387, -0.863008521)
+            double3 xformOp:translate = (1.85069066468, 8.55002740176, 0.882482424248)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0506321393, 3.75929144e-05, 0.000509673022, 0.99871724)
+            double3 xformOp:translate = (3.55928769439, 8.88306935931, 0.749327138295)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0087/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0087/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..f47532c84373e1cf5a9c82bb5820fb0dcb860db0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0087/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4716339420792015238,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "electronics": 5,
+    "book": 2,
+    "drinkware": 7,
+    "small object": 7,
+    "office_supplies": 3,
+    "stationery": 1,
+    "office_supply": 3,
+    "clock": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 192,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.4158030868396443,
+        8.534775822223526,
+        0.7406646541694102
+      ],
+      "rotation_wxyz": [
+        0.9738022563501073,
+        -0.0004794250072706334,
+        0.00017700700168034526,
+        0.22739591981305163
+      ],
+      "yaw_degrees_local": 26.228907036524646,
+      "yaw_radians": 0.45880523701880804,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4158030868396443,
+        8.534775822223526,
+        0.9181646488049922
+      ],
+      "z_min": 0.7406646541694102,
+      "z_max": 1.0956646434405741
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.832640982443932,
+        8.274414392472488,
+        0.7410026084012227
+      ],
+      "rotation_wxyz": [
+        0.9206650397970503,
+        -0.00044215484438466933,
+        0.00025627896875764407,
+        0.3903532032860497
+      ],
+      "yaw_degrees_local": 45.89425297263827,
+      "yaw_radians": 0.8020302613607797,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.832640982443932,
+        8.274414392472488,
+        0.8910026143616872
+      ],
+      "z_min": 0.7410026084012227,
+      "z_max": 1.0410026203221516
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.5453887804866406,
+        8.74065647519625,
+        0.8084927954045342
+      ],
+      "rotation_wxyz": [
+        0.7201409448920031,
+        -0.00032124060732497794,
+        0.0003974723744435479,
+        0.6938276142603701
+      ],
+      "yaw_degrees_local": 87.80903737977235,
+      "yaw_radians": 1.5335815506547334,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5453887804866406,
+        8.74065647519625,
+        0.8765481389581201
+      ],
+      "z_min": 0.7404394602822246,
+      "z_max": 0.8765501473893964
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.7786363124879803,
+        8.231998320700617,
+        0.8064835193135167
+      ],
+      "rotation_wxyz": [
+        0.3658691071679175,
+        -0.00012657985378312898,
+        0.0004951336757447975,
+        0.9306661781972819
+      ],
+      "yaw_degrees_local": 137.0191260381664,
+      "yaw_radians": 2.392459825524047,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7786363124879803,
+        8.231998320700617,
+        0.8718392436751582
+      ],
+      "z_min": 0.7411792058310142,
+      "z_max": 0.8718906545542972
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        2.5667752359051126,
+        8.275231930321834,
+        0.7660621814189731
+      ],
+      "rotation_wxyz": [
+        0.5843144508724679,
+        -0.00024490449354895556,
+        0.0004485550192338084,
+        0.8115271784245986
+      ],
+      "yaw_degrees_local": 108.43213108248278,
+      "yaw_radians": 1.893522596078045,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5667752359051126,
+        8.275231930321834,
+        0.7910064229890984
+      ],
+      "z_min": 0.7410354777889431,
+      "z_max": 0.7909239609291937
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.3684813999458076,
+        8.271098931922333,
+        0.8000632422462709
+      ],
+      "rotation_wxyz": [
+        0.9782655269021229,
+        -0.0005092301409192285,
+        -4.317962273683416e-05,
+        -0.20735548629128617
+      ],
+      "yaw_degrees_local": -23.993557273361404,
+      "yaw_radians": -0.4177417389223607,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3684813999458076,
+        8.271098931922333,
+        0.859189520278791
+      ],
+      "z_min": 0.7410648114055648,
+      "z_max": 0.859317367470605
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        1.8309587520604391,
+        8.784571013091352,
+        0.7592293995486631
+      ],
+      "rotation_wxyz": [
+        0.9718116490116465,
+        -0.0005077565942499631,
+        -5.7991872154561605e-05,
+        -0.23575804899398142
+      ],
+      "yaw_degrees_local": -27.331336788506007,
+      "yaw_radians": -0.4759969568675428,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8309587520604391,
+        8.784571013091352,
+        0.7781470444236923
+      ],
+      "z_min": 0.7406121151269031,
+      "z_max": 0.7775754136651482
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.553345029582387,
+        8.401213327422749,
+        0.7801286753417683
+      ],
+      "rotation_wxyz": [
+        0.9119634210513174,
+        -0.00043648029875811026,
+        0.00026582845038923775,
+        0.4102711999209322
+      ],
+      "yaw_degrees_local": 48.385040899614324,
+      "yaw_radians": 0.8455027189104591,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.553345029582387,
+        8.401213327422749,
+        0.8194775346676442
+      ],
+      "z_min": 0.740782711383832,
+      "z_max": 0.8194804300355837
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        1.689433321397228,
+        8.884079772640886,
+        0.7462189155481951
+      ],
+      "rotation_wxyz": [
+        0.4541249350325065,
+        -0.0001738526024607418,
+        0.00048057786971305693,
+        0.8909378666337545
+      ],
+      "yaw_degrees_local": 125.92399168456518,
+      "yaw_radians": 2.198813212878727,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.689433321397228,
+        8.884079772640886,
+        0.7520499665729813
+      ],
+      "z_min": 0.7405291148188704,
+      "z_max": 0.7521912168684428
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.4312249583114456,
+        8.875502595156147,
+        0.7484842797785692
+      ],
+      "rotation_wxyz": [
+        0.9976717567999809,
+        -0.0005016149621547505,
+        9.778673725409225e-05,
+        0.06819680713804553
+      ],
+      "yaw_degrees_local": 7.762139268061048,
+      "yaw_radians": 0.13649944721937524,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4312249583114456,
+        8.875502595156147,
+        0.7567202865307099
+      ],
+      "z_min": 0.7403171284104062,
+      "z_max": 0.7567891419146876
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.597107943859451,
+        8.294081401021623,
+        0.7475442294120365
+      ],
+      "rotation_wxyz": [
+        0.7941367401374921,
+        -0.00036421882231648924,
+        0.0003585030902387066,
+        0.6077389051097364
+      ],
+      "yaw_degrees_local": 74.79368111274647,
+      "yaw_radians": 1.306420612998621,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.597107943859451,
+        8.294081401021623,
+        0.7541570336955242
+      ],
+      "z_min": 0.7408858061458802,
+      "z_max": 0.7541114147128557
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.031377903392892,
+        8.817408102874285,
+        0.7463669622827274
+      ],
+      "rotation_wxyz": [
+        0.10960108401577544,
+        -0.00011854934832265573,
+        -0.0004971175597910279,
+        -0.9939755234424794
+      ],
+      "yaw_degrees_local": -167.47406811029313,
+      "yaw_radians": -2.9219493759287936,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.031377903392892,
+        8.817408102874285,
+        0.7521841750492997
+      ],
+      "z_min": 0.7404267096204177,
+      "z_max": 0.7520611351535623
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.2689577975387274,
+        8.275991810528858,
+        0.7803028207767115
+      ],
+      "rotation_wxyz": [
+        0.06644949019894632,
+        -9.690811413690361e-05,
+        -0.0005017854458379014,
+        -0.997789659233089
+      ],
+      "yaw_degrees_local": -172.43854386154518,
+      "yaw_radians": -3.0085957861457233,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2689577975387274,
+        8.275991810528858,
+        0.8195428956166028
+      ],
+      "z_min": 0.7409457472623009,
+      "z_max": 0.8194258969420835
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.2028637585337956,
+        8.25704977162346,
+        0.7511217113227503
+      ],
+      "rotation_wxyz": [
+        0.8086730467140916,
+        -0.0004473574785173447,
+        -0.00024708521334737153,
+        -0.5882581426026611
+      ],
+      "yaw_degrees_local": -72.12571711946633,
+      "yaw_radians": -1.257806348585707,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2028637585337956,
+        8.25704977162346,
+        0.761159062303569
+      ],
+      "z_min": 0.7411000188732482,
+      "z_max": 0.7611747208348856
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.7464470459002857,
+        8.587399667575449,
+        0.7883466188343048
+      ],
+      "rotation_wxyz": [
+        0.9389733756888626,
+        -0.0004543764629139735,
+        0.0002339270103902049,
+        0.34398944543059157
+      ],
+      "yaw_degrees_local": 40.18153499856058,
+      "yaw_radians": 0.7023245140581401,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7464470459002857,
+        8.587399667575449,
+        0.8358700960345485
+      ],
+      "z_min": 0.7408228154774472,
+      "z_max": 0.8358697698779348
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.8483070436998166,
+        8.451738602143795,
+        0.7462346906099437
+      ],
+      "rotation_wxyz": [
+        0.9986577310575511,
+        -0.0005097163605903387,
+        3.7000648465295775e-05,
+        -0.0517926154887736
+      ],
+      "yaw_degrees_local": -5.9963643716859,
+      "yaw_radians": -0.10363162209630558,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8483070436998166,
+        8.451738602143795,
+        0.7515356812410572
+      ],
+      "z_min": 0.740947479456676,
+      "z_max": 0.751549460718903
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.9692776761059299,
+        8.286585256047566,
+        0.7753507110442411
+      ],
+      "rotation_wxyz": [
+        0.5115466893180528,
+        -0.00020497919616537208,
+        0.00046814884959776474,
+        0.8592553307765531
+      ],
+      "yaw_degrees_local": 118.4074627456132,
+      "yaw_radians": 2.0676250211719815,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9692776761059299,
+        8.286585256047566,
+        0.809556230756743
+      ],
+      "z_min": 0.7410996713093676,
+      "z_max": 0.8095107107343713
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.0359775049902162,
+        8.793314923694595,
+        0.7811408105761135
+      ],
+      "rotation_wxyz": [
+        0.9899907772199715,
+        -0.0005109808543658527,
+        -8.853401146216943e-06,
+        -0.14113114411631772
+      ],
+      "yaw_degrees_local": -16.28532447283274,
+      "yaw_radians": -0.28320776005821613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0359775049902162,
+        8.793314923694595,
+        0.8216908197156451
+      ],
+      "z_min": 0.7405772821295485,
+      "z_max": 0.8216773004086115
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        3.0387509511776187,
+        8.291619323580113,
+        0.7727909535521396
+      ],
+      "rotation_wxyz": [
+        0.9848987765925872,
+        -0.0005104257904560876,
+        -2.540332020801115e-05,
+        -0.17313040947970149
+      ],
+      "yaw_degrees_local": -19.99846868594406,
+      "yaw_radians": -0.3480143207964366,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0387509511776187,
+        8.291619323580113,
+        0.8046421712956114
+      ],
+      "z_min": 0.7409590608702208,
+      "z_max": 0.8046614963571646
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.6915856529074143,
+        8.54876521679992,
+        0.7486097627087959
+      ],
+      "rotation_wxyz": [
+        0.9958579104339359,
+        -0.0004992554954814198,
+        0.0001091960002560291,
+        0.09092173033075646
+      ],
+      "yaw_degrees_local": 10.374562482137009,
+      "yaw_radians": 0.1820948136792692,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6915856529074143,
+        8.54876521679992,
+        0.75670518807623
+      ],
+      "z_min": 0.7406155278910445,
+      "z_max": 0.7568063786259127
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.273146589473056,
+        8.86338948138851,
+        0.8105211471554987
+      ],
+      "rotation_wxyz": [
+        0.009396953794776453,
+        5.858239310453888e-05,
+        0.0005076888017855602,
+        0.9999557170592921
+      ],
+      "yaw_degrees_local": 178.86446200646998,
+      "yaw_radians": 3.122798412249224,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.273146589473056,
+        8.86338948138851,
+        0.8806975133874175
+      ],
+      "z_min": 0.7403494750152786,
+      "z_max": 0.8807022074791163
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.4216272835279096,
+        8.229571875592848,
+        0.7466632676019478
+      ],
+      "rotation_wxyz": [
+        0.5728691519493071,
+        -0.0003424361503299631,
+        -0.00037936433568208216,
+        -0.819646676053204
+      ],
+      "yaw_degrees_local": -110.15761242380879,
+      "yaw_radians": -1.9215884571251314,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4216272835279096,
+        8.229571875592848,
+        0.752494318626734
+      ],
+      "z_min": 0.7409734668726231,
+      "z_max": 0.7526355689221955
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.6920098970707773,
+        8.469525181022842,
+        0.7409492399978201
+      ],
+      "rotation_wxyz": [
+        0.5974079255254007,
+        -0.0002521519244698215,
+        0.0004445213416996737,
+        0.8019373475151418
+      ],
+      "yaw_degrees_local": 106.57232107210734,
+      "yaw_radians": 1.861062776894794,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6920098970707773,
+        8.469525181022842,
+        0.7909493338751357
+      ],
+      "z_min": 0.7409492399978201,
+      "z_max": 0.8409494277524512
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.7002700123548595,
+        8.804514352036279,
+        0.8165046006594734
+      ],
+      "rotation_wxyz": [
+        0.4494172731155414,
+        -0.00017131424797618957,
+        0.000481488571703073,
+        0.8933218084461919
+      ],
+      "yaw_degrees_local": 126.52867616427852,
+      "yaw_radians": 2.2093669482920615,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7002700123548595,
+        8.804514352036279,
+        0.8926905391815595
+      ],
+      "z_min": 0.7403550741722711,
+      "z_max": 0.8927269512164434
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.5165615131998633,
+        8.241147385585329,
+        0.7883727697178584
+      ],
+      "rotation_wxyz": [
+        0.8642787990304369,
+        -0.0004064234340571239,
+        0.0003098383586477428,
+        0.5030128192866359
+      ],
+      "yaw_degrees_local": 60.34035329964635,
+      "yaw_radians": 1.0541623424620803,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5165615131998633,
+        8.241147385585329,
+        0.8358252954568388
+      ],
+      "z_min": 0.7409497201444298,
+      "z_max": 0.8358547716223907
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        1.9771484525033172,
+        8.577440360599391,
+        0.7878999344528255
+      ],
+      "rotation_wxyz": [
+        0.6013496974668799,
+        -0.0003555702105469369,
+        -0.0003670826087026183,
+        -0.7989857822118465
+      ],
+      "yaw_degrees_local": -106.12545138232923,
+      "yaw_radians": -1.8512139369066136,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9771484525033172,
+        8.577440360599391,
+        0.8350056851394579
+      ],
+      "z_min": 0.7408036861770109,
+      "z_max": 0.8350151875502758
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.1831420627425753,
+        8.900739958802918,
+        0.7877727407335885
+      ],
+      "rotation_wxyz": [
+        0.1897658106575707,
+        -0.0001584326872968361,
+        -0.0004858795116448269,
+        -0.9818292498829209
+      ],
+      "yaw_degrees_local": -158.18047253475174,
+      "yaw_radians": -2.7597455894583556,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1831420627425753,
+        8.900739958802918,
+        0.8351388673948434
+      ],
+      "z_min": 0.7404496858188387,
+      "z_max": 0.8351819391413488
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.1640920564046557,
+        8.423571435619134,
+        0.8410663911546654
+      ],
+      "rotation_wxyz": [
+        0.019366945638590264,
+        5.351736640049001e-05,
+        0.0005082476834515513,
+        0.9998123125051102
+      ],
+      "yaw_degrees_local": 177.72186203854483,
+      "yaw_radians": 3.1028562910025457,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1640920564046557,
+        8.423571435619134,
+        0.9412832712173154
+      ],
+      "z_min": 0.7408093856763869,
+      "z_max": 0.9412431458016869
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.8506906646837609,
+        8.550027401756791,
+        0.8824824242476508
+      ],
+      "rotation_wxyz": [
+        0.5051891054981705,
+        -0.0003108615152773058,
+        -0.0004056413866456552,
+        -0.8630085205292832
+      ],
+      "yaw_degrees_local": -119.37088883699113,
+      "yaw_radians": -2.082390533798875,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8506906646837609,
+        8.550027401756791,
+        1.0240432114434022
+      ],
+      "z_min": 0.7408475610085302,
+      "z_max": 1.023969135400033
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.5592876943931957,
+        8.883069359308248,
+        0.7493271382951385
+      ],
+      "rotation_wxyz": [
+        0.05063213929260042,
+        3.759291437928414e-05,
+        0.0005096730216803557,
+        0.9987172399086933
+      ],
+      "yaw_degrees_local": 174.13679115844957,
+      "yaw_radians": 3.040285032698781,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5592876943931957,
+        8.883069359308248,
+        0.7581603843986208
+      ],
+      "z_min": 0.7402932287153392,
+      "z_max": 0.7579597209223037
+    }
+  ],
+  "variant_index": 87
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0090/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0090/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..47973c7385ce2bd7291d296405264712deb0f04b
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0090/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7734461417679204267
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.120060304, 2.00779942e-06, 0.000511053603, 0.992766469)
+            double3 xformOp:translate = (2.20360504319, 8.35614853024, 0.740999410567)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.732268796, -0.000414487894, -0.000298964215, -0.681015528)
+            double3 xformOp:translate = (1.79909917668, 8.66646354312, 0.740735930442)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996155692, -0.000510715888, 1.86841774e-05, -0.0875989538)
+            double3 xformOp:translate = (3.74387948902, 8.51464863479, 0.747301926907)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.194084185, -0.000160569104, -0.000485177678, -0.980984744)
+            double3 xformOp:translate = (2.51799867822, 8.31770759531, 0.818366122355)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.518165201, -0.00031695232, -0.000400900291, -0.8552804)
+            double3 xformOp:translate = (1.83633475813, 8.79418985656, 0.774852726142)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.824936498, -0.000454145784, -0.000234374536, -0.565225187)
+            double3 xformOp:translate = (1.85678038212, 8.51998759877, 0.805125689079)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.232255952, -0.000179398895, -0.000478535111, -0.972654569)
+            double3 xformOp:translate = (2.86170211422, 8.85505955241, 0.787733096953)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986065669, -0.000510588362, -2.18938588e-05, -0.16635575)
+            double3 xformOp:translate = (3.56085659654, 8.54811259544, 0.779989843216)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.323483774, -0.000223988195, -0.000459357273, -0.946233579)
+            double3 xformOp:translate = (3.28845487729, 8.36720665485, 0.746148067298)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.634343177, -0.00027271232, 0.000432212687, 0.773051403)
+            double3 xformOp:translate = (3.69307347139, 8.46724750132, 0.746348452318)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900155586, -0.000428889778, 0.000277908932, 0.435568204)
+            double3 xformOp:translate = (3.48840671232, 8.2832849597, 0.751357870314)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999995637, -0.000506929426, 6.48257109e-05, 0.00290947982)
+            double3 xformOp:translate = (2.01581711347, 8.23223081586, 0.808017620265)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0357067831, -8.14176168e-05, -0.000504530463, -0.999362179)
+            double3 xformOp:translate = (3.22940158278, 8.58721012335, 0.799633552553)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.944973978, -0.000499936203, -0.000106035887, -0.327145105)
+            double3 xformOp:translate = (2.2772453469, 8.28144495073, 0.775135507642)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.907525892, -0.000433613896, 0.000270478844, 0.419995827)
+            double3 xformOp:translate = (3.03919624068, 8.25117939914, 0.753516565729)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.287199873, -0.000206325258, -0.000467557167, -0.95787054)
+            double3 xformOp:translate = (3.45633781198, 8.86432980037, 0.819034885303)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.806053665, -0.000371269148, 0.000351196578, 0.591842233)
+            double3 xformOp:translate = (1.96355050921, 8.58658549847, 0.775402916685)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.708200741, -0.000403866073, -0.000313164512, -0.706010942)
+            double3 xformOp:translate = (3.69278084172, 8.29630977012, 0.757649003595)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.913042244, -0.000437179841, 0.000264676411, 0.407864683)
+            double3 xformOp:translate = (3.46475307245, 8.71636405974, 0.779831373591)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0400502651, -8.36098356e-05, -0.000504171808, -0.999197536)
+            double3 xformOp:translate = (2.15704250298, 8.88143537002, 0.740472544283)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.567940367, -0.000340153526, -0.000381412369, -0.823069546)
+            double3 xformOp:translate = (2.63765637916, 8.26412930942, 0.788360824266)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99998019, -0.000506708472, 6.6530753e-05, 0.00627364269)
+            double3 xformOp:translate = (3.18631842127, 8.46454166284, 0.816914530143)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.74459691, -0.000335309588, 0.000385677711, 0.66751418)
+            double3 xformOp:translate = (2.52465617884, 8.88890841069, 0.771010407528)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982809549, 0, 0, 0.184622289)
+            double3 xformOp:translate = (4.9489267147, 8.76002796912, 0.92548724005)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.907696758, -0.000433723948, 0.000270302337, 0.419626422)
+            double3 xformOp:translate = (3.62334135218, 8.80651617961, 0.755568436083)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.693185996, 0, 0, 0.72075875)
+            double3 xformOp:translate = (4.96551394497, 8.38687267801, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.544985463, 0, 0, 0.838445493)
+            double3 xformOp:translate = (4.9466910523, 8.22406105126, 0.923709456699)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964923349, -0.000505959526, -7.20053791e-05, -0.262531274)
+            double3 xformOp:translate = (3.17563373122, 8.26411934481, 0.794879654545)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.574412864, -0.000239437354, 0.000451497032, 0.818565575)
+            double3 xformOp:translate = (1.79226829529, 8.26467602354, 0.787156932626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989554904, -0.000510951416, -1.04147533e-05, -0.144155579)
+            double3 xformOp:translate = (2.01577948303, 8.42955613894, 0.767548002384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0090/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0090/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b530cc5209ec0593b14281c22f0d5558c562c52a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0090/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7734461417679204267,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 5,
+    "paper_goods": 1,
+    "small object": 5,
+    "office_supply": 3,
+    "book": 2,
+    "writing_instrument": 1,
+    "clock": 2,
+    "timepiece": 1,
+    "office_supplies": 1,
+    "drinkware/container": 1,
+    "small_electronics": 1
+  },
+  "failed_sampling_attempt_count": 194,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.2036050431934444,
+        8.356148530237226,
+        0.7409994105669968
+      ],
+      "rotation_wxyz": [
+        0.1200603044992859,
+        2.0077994224948996e-06,
+        0.0005110536028459163,
+        0.992766469066982
+      ],
+      "yaw_degrees_local": 166.15012190149662,
+      "yaw_radians": 2.90089143015852,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2036050431934444,
+        8.356148530237226,
+        0.7909995044443123
+      ],
+      "z_min": 0.7409994105669968,
+      "z_max": 0.8409995983216279
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7990991766786197,
+        8.666463543121784,
+        0.7407359304423087
+      ],
+      "rotation_wxyz": [
+        0.7322687956219266,
+        -0.0004144878944762494,
+        -0.00029896421453571686,
+        -0.6810155282947643
+      ],
+      "yaw_degrees_local": -85.9048264643557,
+      "yaw_radians": -1.4982972748798538,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7990991766786197,
+        8.666463543121784,
+        0.7907360243196242
+      ],
+      "z_min": 0.7407359304423087,
+      "z_max": 0.8407361181969397
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.743879489018951,
+        8.514648634790474,
+        0.7473019269070562
+      ],
+      "rotation_wxyz": [
+        0.9961556917038883,
+        -0.0005107158875092672,
+        1.8684177421928846e-05,
+        -0.08759895379587408
+      ],
+      "yaw_degrees_local": -10.10969497697397,
+      "yaw_radians": -0.17542274693045445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.743879489018951,
+        8.514648634790474,
+        0.753914731190544
+      ],
+      "z_min": 0.7406435036408999,
+      "z_max": 0.7538691122078754
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.517998678223652,
+        8.317707595314541,
+        0.8183661223553861
+      ],
+      "rotation_wxyz": [
+        0.19408418453601767,
+        -0.0001605691036943639,
+        -0.0004851776779480907,
+        -0.9809847440878849
+      ],
+      "yaw_degrees_local": -157.6762491103345,
+      "yaw_radians": -2.750945232938324,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.517998678223652,
+        8.317707595314541,
+        0.8957478774887255
+      ],
+      "z_min": 0.7409986049880027,
+      "z_max": 0.8957621152546816
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.8363347581316436,
+        8.794189856561141,
+        0.7748527261416748
+      ],
+      "rotation_wxyz": [
+        0.5181652010760759,
+        -0.0003169523197793792,
+        -0.0004009002908788951,
+        -0.8552804003448072
+      ],
+      "yaw_degrees_local": -117.64018716184285,
+      "yaw_radians": -2.0521840795946678,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8363347581316436,
+        8.794189856561141,
+        0.8090582458541766
+      ],
+      "z_min": 0.7406016864068012,
+      "z_max": 0.809012725831805
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        1.8567803821209856,
+        8.519987598769179,
+        0.8051256890790188
+      ],
+      "rotation_wxyz": [
+        0.8249364983601993,
+        -0.00045414578411761603,
+        -0.00023437453575102452,
+        -0.5652251874194891
+      ],
+      "yaw_degrees_local": -68.89458104458123,
+      "yaw_radians": -1.2014123679193853,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8567803821209856,
+        8.519987598769179,
+        0.8693146431667393
+      ],
+      "z_min": 0.7408772163457524,
+      "z_max": 0.8692551245211934
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.8617021142248245,
+        8.8550595524102,
+        0.787733096952835
+      ],
+      "rotation_wxyz": [
+        0.23225595249049658,
+        -0.00017939889520597125,
+        -0.00047853511118745463,
+        -0.9726545693888021
+      ],
+      "yaw_degrees_local": -153.19885569961144,
+      "yaw_radians": -2.672799994219742,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8617021142248245,
+        8.8550595524102,
+        0.83509922361409
+      ],
+      "z_min": 0.7404100420380852,
+      "z_max": 0.8351422953605953
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.5608565965360324,
+        8.548112595442838,
+        0.7799898432156377
+      ],
+      "rotation_wxyz": [
+        0.9860656689031938,
+        -0.0005105883617805895,
+        -2.1893858831337903e-05,
+        -0.16635574961714136
+      ],
+      "yaw_degrees_local": -19.210716496876387,
+      "yaw_radians": -0.3342654579240814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5608565965360324,
+        8.548112595442838,
+        0.8192299180555289
+      ],
+      "z_min": 0.7406327697012272,
+      "z_max": 0.8191129193810096
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        3.2884548772913207,
+        8.367206654852,
+        0.7461480672981288
+      ],
+      "rotation_wxyz": [
+        0.3234837744388116,
+        -0.0002239881952793922,
+        -0.0004593572733894539,
+        -0.9462335792472195
+      ],
+      "yaw_degrees_local": -142.3112248961382,
+      "yaw_radians": -2.482775008039473,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2884548772913207,
+        8.367206654852,
+        0.7514977231977786
+      ],
+      "z_min": 0.7408507461388355,
+      "z_max": 0.7515500579381352
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.6930734713942543,
+        8.467247501323312,
+        0.7463484523183183
+      ],
+      "rotation_wxyz": [
+        0.6343431774595176,
+        -0.0002727123203482182,
+        0.0004322126867302757,
+        0.7730514032266851
+      ],
+      "yaw_degrees_local": 101.19870495329934,
+      "yaw_radians": 1.7672754466037683,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6930734713942543,
+        8.467247501323312,
+        0.7519973035316003
+      ],
+      "z_min": 0.7406980160485314,
+      "z_max": 0.7519957184750956
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17135408564547958,
+        0.12615247863082146,
+        0.020837576756573974
+      ],
+      "bbox_min_m": [
+        -0.08557922064932827,
+        -0.06318043175369172,
+        -0.010447339522802175
+      ],
+      "bbox_max_m": [
+        0.08577486499615133,
+        0.0629720468771298,
+        0.010390237233771776
+      ],
+      "translation_world": [
+        3.488406712316631,
+        8.283284959699618,
+        0.7513578703138774
+      ],
+      "rotation_wxyz": [
+        0.9001555857534264,
+        -0.00042888977811418605,
+        0.0002779089319713868,
+        0.43556820390966317
+      ],
+      "yaw_degrees_local": 51.58420699238653,
+      "yaw_radians": 0.9013387125566757,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.488406712316631,
+        8.283284959699618,
+        0.7617766586921644
+      ],
+      "z_min": 0.7409105307910752,
+      "z_max": 0.7617481075476491
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000160_obj_002_black_digital_alarm_clock_3fc92ef8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2578347917037521,
+        0.13401889637747194,
+        0.13370261006456274
+      ],
+      "bbox_min_m": [
+        -0.12888531664960112,
+        -0.0670123699004673,
+        -0.06686870049431984
+      ],
+      "bbox_max_m": [
+        0.12894947505415086,
+        0.06700652647700459,
+        0.06683390957024282
+      ],
+      "translation_world": [
+        2.015817113474817,
+        8.23223081586108,
+        0.808017620265208
+      ],
+      "rotation_wxyz": [
+        0.9999956368641708,
+        -0.0005069294264957369,
+        6.482571089479815e-05,
+        0.0029094798169619998
+      ],
+      "yaw_degrees_local": 0.27469192283618327,
+      "yaw_radians": 0.005818901409618204,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.015817113474817,
+        8.23223081586108,
+        0.8748689252974893
+      ],
+      "z_min": 0.7411489197708881,
+      "z_max": 0.8748515298354508
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.229401582776981,
+        8.587210123349362,
+        0.799633552552543
+      ],
+      "rotation_wxyz": [
+        0.03570678307692689,
+        -8.14176167882836e-05,
+        -0.0005045304628234343,
+        -0.9993621788233139
+      ],
+      "yaw_degrees_local": -175.96614397686793,
+      "yaw_radians": -3.0701639939529137,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.229401582776981,
+        8.587210123349362,
+        0.8587598305850631
+      ],
+      "z_min": 0.7406351217118369,
+      "z_max": 0.8588876777768771
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.277245346904672,
+        8.281444950730915,
+        0.7751355076423505
+      ],
+      "rotation_wxyz": [
+        0.9449739780459567,
+        -0.0004999362027479834,
+        -0.0001060358874260964,
+        -0.3271451048635507
+      ],
+      "yaw_degrees_local": -38.249888159774315,
+      "yaw_radians": -0.6665615658771246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.277245346904672,
+        8.281444950730915,
+        0.8091340638130293
+      ],
+      "z_min": 0.7410658648287247,
+      "z_max": 0.8090629771700824
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.0391962406809347,
+        8.251179399140966,
+        0.7535165657290838
+      ],
+      "rotation_wxyz": [
+        0.9075258917084484,
+        -0.0004336138964095702,
+        0.0002704788440540649,
+        0.41999582700185195
+      ],
+      "yaw_degrees_local": 49.60994456861877,
+      "yaw_radians": 0.8668813252012237,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0391962406809347,
+        8.251179399140966,
+        0.7660852319881132
+      ],
+      "z_min": 0.7410000098346011,
+      "z_max": 0.7661373423526598
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.4563378119845365,
+        8.864329800370944,
+        0.8190348853028477
+      ],
+      "rotation_wxyz": [
+        0.2871998733113813,
+        -0.00020632525785960372,
+        -0.00046755716678228846,
+        -0.9578705400992926
+      ],
+      "yaw_degrees_local": -146.6779248110222,
+      "yaw_radians": -2.5589882957900465,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4563378119845365,
+        8.864329800370944,
+        0.8977455481274697
+      ],
+      "z_min": 0.7403253152402226,
+      "z_max": 0.8977466408894665
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        1.9635505092111074,
+        8.586585498473475,
+        0.7754029166849536
+      ],
+      "rotation_wxyz": [
+        0.8060536646217158,
+        -0.00037126914770260966,
+        0.0003511965777232039,
+        0.5918422328375076
+      ],
+      "yaw_degrees_local": 72.51699637283451,
+      "yaw_radians": 1.2666849485593408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9635505092111074,
+        8.586585498473475,
+        0.810002643667789
+      ],
+      "z_min": 0.7407961272345703,
+      "z_max": 0.8099955812002408
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        3.6927808417165053,
+        8.296309770118052,
+        0.7576490035953785
+      ],
+      "rotation_wxyz": [
+        0.7082007405835358,
+        -0.0004038660727614681,
+        -0.000313164511898365,
+        -0.7060109417403639
+      ],
+      "yaw_degrees_local": -89.88127427870397,
+      "yaw_radians": -1.5676994161112223,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6927808417165053,
+        8.296309770118052,
+        0.774600018787784
+      ],
+      "z_min": 0.7408714294847262,
+      "z_max": 0.774773459869537
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.464753072453016,
+        8.716364059741839,
+        0.7798313735908322
+      ],
+      "rotation_wxyz": [
+        0.9130422437921388,
+        -0.00043717984112115157,
+        0.00026467641141136335,
+        0.4078646832850333
+      ],
+      "yaw_degrees_local": 48.08283215735298,
+      "yaw_radians": 0.8402281803501015,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.464753072453016,
+        8.716364059741839,
+        0.8190714484307234
+      ],
+      "z_min": 0.7404743000764216,
+      "z_max": 0.8189544497562041
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.157042502982408,
+        8.881435370016014,
+        0.7404725442828188
+      ],
+      "rotation_wxyz": [
+        0.04005026513115818,
+        -8.360983560382548e-05,
+        -0.0005041718076515325,
+        -0.9991975355669708
+      ],
+      "yaw_degrees_local": -175.46805968848295,
+      "yaw_radians": -3.061470787350419,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.157042502982408,
+        8.881435370016014,
+        0.7629695559966019
+      ],
+      "z_min": 0.7404725472777534,
+      "z_max": 0.7854665707053194
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.637656379158277,
+        8.264129309423774,
+        0.7883608242655141
+      ],
+      "rotation_wxyz": [
+        0.5679403672303162,
+        -0.00034015352564680527,
+        -0.0003814123690054647,
+        -0.8230695463267229
+      ],
+      "yaw_degrees_local": -110.84524845313541,
+      "yaw_radians": -1.9335899754954753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.637656379158277,
+        8.264129309423774,
+        0.8357269509267691
+      ],
+      "z_min": 0.7410377693507644,
+      "z_max": 0.8357700226732744
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.186318421270276,
+        8.464541662843589,
+        0.8169145301427121
+      ],
+      "rotation_wxyz": [
+        0.9999801899176013,
+        -0.0005067084715559822,
+        6.653075299222897e-05,
+        0.006273642685241951
+      ],
+      "yaw_degrees_local": 0.660200886636261,
+      "yaw_radians": 0.012547298733727567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.186318421270276,
+        8.464541662843589,
+        0.8931004686647982
+      ],
+      "z_min": 0.7407650036555098,
+      "z_max": 0.8931368806996821
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.5246561788405826,
+        8.888908410693695,
+        0.7710104075282352
+      ],
+      "rotation_wxyz": [
+        0.7445969099660398,
+        -0.0003353095878058423,
+        0.00038567771074536937,
+        0.6675141799911141
+      ],
+      "yaw_degrees_local": 83.69229644016627,
+      "yaw_radians": 1.4617308295032998,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5246561788405826,
+        8.888908410693695,
+        0.801612809033628
+      ],
+      "z_min": 0.7404184067948597,
+      "z_max": 0.8016232098056453
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        4.948926714697227,
+        8.760027969117619,
+        0.9254872400495995
+      ],
+      "rotation_wxyz": [
+        0.9828095493181807,
+        0.0,
+        0.0,
+        0.1846222894695949
+      ],
+      "yaw_degrees_local": -68.72177629284973,
+      "yaw_radians": 0.3713750626656862,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.948926714697227,
+        8.760027969117619,
+        0.9307882306807129
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308020101585588
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.623341352183677,
+        8.806516179613963,
+        0.7555684360828041
+      ],
+      "rotation_wxyz": [
+        0.907696758234852,
+        -0.00043372394756903854,
+        0.0002703023372918601,
+        0.4196264218446268
+      ],
+      "yaw_degrees_local": 49.56330487701322,
+      "yaw_radians": 0.8660673088508225,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.623341352183677,
+        8.806516179613963,
+        0.7707369130353355
+      ],
+      "z_min": 0.7403627589671408,
+      "z_max": 0.7706997128722036
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.965513944970728,
+        8.386872678009563,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        0.6931859959308759,
+        0.0,
+        0.0,
+        0.7207587495447556
+      ],
+      "yaw_degrees_local": 2.234319566354344,
+      "yaw_radians": 1.609792559769512,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.965513944970728,
+        8.386872678009563,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        4.946691052300993,
+        8.22406105125507,
+        0.923709456699084
+      ],
+      "rotation_wxyz": [
+        -0.5449854627845336,
+        0.0,
+        0.0,
+        0.8384454933706351
+      ],
+      "yaw_degrees_local": 156.04734042985905,
+      "yaw_radians": -1.988849100903186,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.946691052300993,
+        8.22406105125507,
+        0.9272897361804091
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9273605878589819
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.175633731223891,
+        8.264119344806492,
+        0.7948796545445346
+      ],
+      "rotation_wxyz": [
+        0.9649233488545181,
+        -0.0005059595256678264,
+        -7.200537914837159e-05,
+        -0.26253127367147305
+      ],
+      "yaw_degrees_local": -30.4993387618602,
+      "yaw_radians": -0.5312890010626612,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.175633731223891,
+        8.264119344806492,
+        0.8487998568379328
+      ],
+      "z_min": 0.7409696205647083,
+      "z_max": 0.8488100251515047
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        1.792268295288352,
+        8.264676023540028,
+        0.78715693262622
+      ],
+      "rotation_wxyz": [
+        0.5744128637872944,
+        -0.00023943735449018282,
+        0.00045149703156837604,
+        0.81856557509821
+      ],
+      "yaw_degrees_local": 109.82422897882486,
+      "yaw_radians": 1.9178192955844562,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.792268295288352,
+        8.264676023540028,
+        0.8333553471270998
+      ],
+      "z_min": 0.7411443257886032,
+      "z_max": 0.833541154790363
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.0157794830316984,
+        8.429556138938715,
+        0.7675480023841411
+      ],
+      "rotation_wxyz": [
+        0.9895549038805284,
+        -0.000510951415649914,
+        -1.0414753269354823e-05,
+        -0.1441555792405623
+      ],
+      "yaw_degrees_local": -16.635480036000217,
+      "yaw_radians": -0.2893191245034168,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0157794830316984,
+        8.429556138938715,
+        0.7941224870402152
+      ],
+      "z_min": 0.7409487698114754,
+      "z_max": 0.7940977391236234
+    }
+  ],
+  "variant_index": 90
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0091/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0091/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..f9e5f148ab27f1f76a521f5534d207d217d49817
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0091/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6484179692278356308
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.372784978, -0.000247829296, -0.000446945697, -0.927917614)
+            double3 xformOp:translate = (3.61963062549, 8.35954317027, 0.740816555586)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.556080974, -0.000334649943, -0.000386250219, -0.831127962)
+            double3 xformOp:translate = (3.56761981157, 8.81510220716, 0.740361102781)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.150630288, -0.000139014739, -0.00049178727, -0.988590034)
+            double3 xformOp:translate = (2.32672890752, 8.25813686118, 0.811254926019)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929952628, -0.000494886481, -0.000127542885, -0.367679003)
+            double3 xformOp:translate = (1.85022608503, 8.5945052342, 0.882437372262)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.371922585, -0.000129801873, 0.000494298786, 0.92826361)
+            double3 xformOp:translate = (2.12191346828, 8.28344449963, 0.744498042453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.358402059, -0.000240893392, -0.000450721854, -0.933567192)
+            double3 xformOp:translate = (1.84171795492, 8.80782428695, 0.774656818591)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.473537508, -0.000295935907, -0.00041665544, -0.880773505)
+            double3 xformOp:translate = (1.89763963, 8.30581672388, 0.787301250461)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.536246835, -0.000325411054, -0.000394065302, -0.844061058)
+            double3 xformOp:translate = (1.69537467486, 8.20229917315, 0.741219842893)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.503043635, -0.000200350058, 0.000470148562, 0.864260864)
+            double3 xformOp:translate = (1.74479553859, 8.32222660877, 0.748509934517)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996093893, -0.000499541324, 0.000107880868, 0.0882988949)
+            double3 xformOp:translate = (2.95824283874, 8.22221937863, 0.788619460334)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995168713, -0.00051088558, 1.32567163e-05, -0.098178261)
+            double3 xformOp:translate = (3.54400326696, 8.4455604567, 0.799737357817)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.198741972, -3.86984161e-05, 0.000509590275, 0.980051717)
+            double3 xformOp:translate = (2.03881399186, 8.77870856479, 0.840811254709)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.927107786, -0.000493894585, -0.000131331472, -0.374794466)
+            double3 xformOp:translate = (3.23597183494, 8.37736948754, 0.740543389172)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.67559814, -0.000389313045, -0.000331081816, -0.737269891)
+            double3 xformOp:translate = (3.23213146852, 8.87074193852, 0.786359808796)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.29118391, -0.000208269379, -0.00046669442, -0.956666958)
+            double3 xformOp:translate = (3.61466888527, 8.63491369838, 0.743886575916)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98978266, -0.000492901845, 0.000135009584, 0.142583394)
+            double3 xformOp:translate = (2.72209793615, 8.8790399011, 0.808456754354)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998539869, -0.000502953476, 9.06510755e-05, 0.0540172944)
+            double3 xformOp:translate = (2.4850352518, 8.22526560178, 0.871047729719)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.92555588, 0, 0, -0.378611032)
+            double3 xformOp:translate = (4.95837716522, 8.77957116973, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.894080064, -0.000425027122, 0.000283781187, 0.447906886)
+            double3 xformOp:translate = (3.72432097459, 8.77464875473, 0.787962105727)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.351253205, -0.000118812235, 0.000497054795, 0.936280367)
+            double3 xformOp:translate = (2.01127503194, 8.56645883026, 0.801484998017)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981971151, -0.000509948402, -3.36517977e-05, -0.189030147)
+            double3 xformOp:translate = (2.64431434112, 8.29101066284, 0.767608883593)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.767306837, 0, 0, 0.64128014)
+            double3 xformOp:translate = (4.89875791893, 8.14746214217, 0.929233938476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.896504146, -0.000426565046, 0.000281464168, 0.443035049)
+            double3 xformOp:translate = (1.95595216258, 8.45226797373, 0.780290395105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.241826262, -6.11636924e-05, 0.000507384291, 0.970319431)
+            double3 xformOp:translate = (3.13504952831, 8.24212723231, 0.75279760662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.974332756, -0.000508360656, -5.24333853e-05, -0.225112016)
+            double3 xformOp:translate = (3.39528146608, 8.78823063582, 0.743963761557)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.34517748, -0.00011558816, 0.000497814417, 0.938537291)
+            double3 xformOp:translate = (3.37189548495, 8.58805541504, 0.816765745699)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.440675472, -0.000280341214, -0.000427303896, -0.897666345)
+            double3 xformOp:translate = (2.93225884492, 8.84965038251, 0.80465507015)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.115044594, 4.58895899e-06, 0.000511036944, 0.993360197)
+            double3 xformOp:translate = (3.61691904217, 8.90675511072, 0.796421848694)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.618434451, 0, 0, 0.785836389)
+            double3 xformOp:translate = (4.98941434447, 8.30391967519, 1.00658728594)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.60998474, -0.000359532789, -0.000363202409, -0.792412996)
+            double3 xformOp:translate = (1.80026267266, 8.4552394792, 0.77760558314)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0091/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0091/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b55171b30a694df94c28a139eec92bfe1820727
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0091/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6484179692278356308,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "electronics": 6,
+    "drinkware": 7,
+    "small object": 7,
+    "decorative_object": 1,
+    "paper goods": 2,
+    "book": 2,
+    "paper_object": 1,
+    "office_supply": 1,
+    "clock": 1,
+    "small prop": 1,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 199,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.6196306254949597,
+        8.359543170273561,
+        0.7408165555860255
+      ],
+      "rotation_wxyz": [
+        0.37278497811554767,
+        -0.00024782929598801576,
+        -0.0004469456972501213,
+        -0.9279176142910396
+      ],
+      "yaw_degrees_local": -136.2837504846791,
+      "yaw_radians": -2.3775757284712897,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6196306254949597,
+        8.359543170273561,
+        0.9183165502216075
+      ],
+      "z_min": 0.7408165555860255,
+      "z_max": 1.0958165448571895
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5676198115658777,
+        8.815102207156569,
+        0.7403611027805227
+      ],
+      "rotation_wxyz": [
+        0.5560809740006142,
+        -0.0003346499431210008,
+        -0.00038625021917071265,
+        -0.831127961973794
+      ],
+      "yaw_degrees_local": -112.48829660176384,
+      "yaw_radians": -1.9622665885606108,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5676198115658777,
+        8.815102207156569,
+        0.7903611966578382
+      ],
+      "z_min": 0.7403611027805227,
+      "z_max": 0.8403612905351537
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.326728907517422,
+        8.258136861183626,
+        0.8112549260190376
+      ],
+      "rotation_wxyz": [
+        0.15063028832956313,
+        -0.00013901473880939942,
+        -0.0004917872696950044,
+        -0.9885900338653716
+      ],
+      "yaw_degrees_local": -162.7317992481494,
+      "yaw_radians": -2.8391812012544047,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.326728907517422,
+        8.258136861183626,
+        0.8814312922509564
+      ],
+      "z_min": 0.7410832538788175,
+      "z_max": 0.8814359863426552
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.8502260850339973,
+        8.594505234198525,
+        0.8824373722615706
+      ],
+      "rotation_wxyz": [
+        0.9299526275064388,
+        -0.0004948864807032049,
+        -0.00012754288477805802,
+        -0.36767900322707375
+      ],
+      "yaw_degrees_local": -43.20380919719,
+      "yaw_radians": -0.7530237813074842,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8502260850339973,
+        8.594505234198525,
+        1.023998159457322
+      ],
+      "z_min": 0.74080250902245,
+      "z_max": 1.023924083413953
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        2.1219134682840965,
+        8.283444499629491,
+        0.7444980424533083
+      ],
+      "rotation_wxyz": [
+        0.37192258503023856,
+        -0.0001298018730022611,
+        0.0004942987861662392,
+        0.9282636099538799
+      ],
+      "yaw_degrees_local": 136.2728095089334,
+      "yaw_radians": 2.3794341468899107,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1219134682840965,
+        8.283444499629491,
+        0.7479373245325234
+      ],
+      "z_min": 0.741083501531953,
+      "z_max": 0.747962065690383
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.8417179549235412,
+        8.807824286953357,
+        0.7746568185905837
+      ],
+      "rotation_wxyz": [
+        0.3584020591829912,
+        -0.00024089339214698502,
+        -0.000450721854207483,
+        -0.9335671924363965
+      ],
+      "yaw_degrees_local": -138.05451788561086,
+      "yaw_radians": -2.408481452713134,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8417179549235412,
+        8.807824286953357,
+        0.8086553747612625
+      ],
+      "z_min": 0.7405871757769579,
+      "z_max": 0.8085842881183155
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        1.897639629999151,
+        8.305816723878527,
+        0.7873012504607392
+      ],
+      "rotation_wxyz": [
+        0.4735375084425127,
+        -0.0002959359067873881,
+        -0.00041665543955916255,
+        -0.8807735048911504
+      ],
+      "yaw_degrees_local": -123.53036239105064,
+      "yaw_radians": -2.1549870675512826,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.897639629999151,
+        8.305816723878527,
+        0.8334938503668217
+      ],
+      "z_min": 0.7410892490045083,
+      "z_max": 0.8334744488166732
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.6953746748567107,
+        8.202299173153383,
+        0.7412198428925177
+      ],
+      "rotation_wxyz": [
+        0.5362468353226726,
+        -0.00032541105361345824,
+        -0.00039406530223617963,
+        -0.844061058470655
+      ],
+      "yaw_degrees_local": -115.20168434432009,
+      "yaw_radians": -2.009624159212288,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6953746748567107,
+        8.202299173153383,
+        0.7912199367698333
+      ],
+      "z_min": 0.7412198428925177,
+      "z_max": 0.8412200306471488
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        1.7447955385911988,
+        8.322226608766849,
+        0.7485099345173303
+      ],
+      "rotation_wxyz": [
+        0.5030436345238452,
+        -0.00020035005816816564,
+        0.0004701485620868421,
+        0.8642608637357266
+      ],
+      "yaw_degrees_local": 119.53814014004644,
+      "yaw_radians": 2.0873590676158087,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7447955385911988,
+        8.322226608766849,
+        0.7560498371604297
+      ],
+      "z_min": 0.7410919508244185,
+      "z_max": 0.7561717561106174
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.9582428387359907,
+        8.222219378629868,
+        0.788619460333923
+      ],
+      "rotation_wxyz": [
+        0.9960938931530358,
+        -0.0004995413241331245,
+        0.00010788086820023897,
+        0.08829889491614516
+      ],
+      "yaw_degrees_local": 10.072793508617167,
+      "yaw_radians": 0.1768279537699485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9582428387359907,
+        8.222219378629868,
+        0.8360183857620235
+      ],
+      "z_min": 0.7410396572216233,
+      "z_max": 0.8358375080778243
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.5440032669612958,
+        8.445560456697615,
+        0.7997373578165048
+      ],
+      "rotation_wxyz": [
+        0.9951687132793684,
+        -0.0005108855798637405,
+        1.3256716320503777e-05,
+        -0.09817826098516072
+      ],
+      "yaw_degrees_local": -11.3272644455881,
+      "yaw_radians": -0.19667333201450132,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5440032669612958,
+        8.445560456697615,
+        0.8588636358490249
+      ],
+      "z_min": 0.7407389269757987,
+      "z_max": 0.8589914830408389
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.0388139918553803,
+        8.778708564787788,
+        0.8408112547087583
+      ],
+      "rotation_wxyz": [
+        0.19874197192747345,
+        -3.86984160686084e-05,
+        0.00050959027545087,
+        0.9800517167040541
+      ],
+      "yaw_degrees_local": 157.0144813146892,
+      "yaw_radians": 2.7414444992759313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0388139918553803,
+        8.778708564787788,
+        0.9408999558007713
+      ],
+      "z_min": 0.740591768144563,
+      "z_max": 0.940769170328589
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.2359718349376423,
+        8.37736948753827,
+        0.7405433891716129
+      ],
+      "rotation_wxyz": [
+        0.9271077860739219,
+        -0.0004938945846613908,
+        -0.00013133147178976122,
+        -0.3747944661028162
+      ],
+      "yaw_degrees_local": -44.08193678857117,
+      "yaw_radians": -0.7683499966793561,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2359718349376423,
+        8.37736948753827,
+        0.7493554565761187
+      ],
+      "z_min": 0.740847085401434,
+      "z_max": 0.7584712202104456
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.232131468523405,
+        8.87074193852142,
+        0.7863598087963397
+      ],
+      "rotation_wxyz": [
+        0.6755981397042334,
+        -0.0003893130450823067,
+        -0.0003310818164276837,
+        -0.7372698911852857
+      ],
+      "yaw_degrees_local": -95.0574638531187,
+      "yaw_radians": -1.6580410133832961,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.232131468523405,
+        8.87074193852142,
+        0.8325582232972195
+      ],
+      "z_min": 0.740347201958723,
+      "z_max": 0.8327440309604827
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e",
+      "asset_source": "sceneforge_base",
+      "category": "paper_object",
+      "asset_usd": "assets/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19845195335365562,
+        0.14869390515001082,
+        0.00659895420068359
+      ],
+      "bbox_min_m": [
+        -0.09910663093709025,
+        -0.07411959395976447,
+        -0.0033486795732065883
+      ],
+      "bbox_max_m": [
+        0.09934532241656534,
+        0.07457431119024631,
+        0.0032502746274769884
+      ],
+      "translation_world": [
+        3.6146688852718563,
+        8.63491369838127,
+        0.7438865759161856
+      ],
+      "rotation_wxyz": [
+        0.2911839099230146,
+        -0.00020826937884484622,
+        -0.0004666944204465,
+        -0.956666958466806
+      ],
+      "yaw_degrees_local": -146.2010093075066,
+      "yaw_radians": -2.5506645506440724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6146688852718563,
+        8.63491369838127,
+        0.7471860530165274
+      ],
+      "z_min": 0.740537896342979,
+      "z_max": 0.7471368505436625
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.7220979361485345,
+        8.879039901104518,
+        0.8084567543535686
+      ],
+      "rotation_wxyz": [
+        0.9897826602049882,
+        -0.0004929018446426444,
+        0.00013500958406050694,
+        0.14258339446696067
+      ],
+      "yaw_degrees_local": 16.336019438650766,
+      "yaw_radians": 0.28614182488498746,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7220979361485345,
+        8.879039901104518,
+        0.8765120979071545
+      ],
+      "z_min": 0.740403419231259,
+      "z_max": 0.8765141063384307
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.4850352517997303,
+        8.225265601782604,
+        0.8710477297186687
+      ],
+      "rotation_wxyz": [
+        0.9985398693729618,
+        -0.0005029534757340129,
+        9.065107548941868e-05,
+        0.054017294386265846
+      ],
+      "yaw_degrees_local": 6.1342305590433455,
+      "yaw_radians": 0.10808709339645267,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4850352517997303,
+        8.225265601782604,
+        1.0012148792334379
+      ],
+      "z_min": 0.7410965666030325,
+      "z_max": 1.0014308656325708
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.958377165219297,
+        8.779571169731001,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.9255558798165496,
+        0.0,
+        0.0,
+        -0.3786110317159458
+      ],
+      "yaw_degrees_local": -134.49534654519442,
+      "yaw_radians": -0.7765902990295267,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.958377165219297,
+        8.779571169731001,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.724320974590448,
+        8.774648754732924,
+        0.7879621057268121
+      ],
+      "rotation_wxyz": [
+        0.8940800636517519,
+        -0.0004250271216901761,
+        0.0002837811869523363,
+        0.4479068860831049
+      ],
+      "yaw_degrees_local": 53.16023914768547,
+      "yaw_radians": 0.928845669771692,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.724320974590448,
+        8.774648754732924,
+        0.8353610311549126
+      ],
+      "z_min": 0.7403823026145124,
+      "z_max": 0.8351801534707134
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.0112750319384514,
+        8.566458830263135,
+        0.8014849980173961
+      ],
+      "rotation_wxyz": [
+        0.3512532049211468,
+        -0.00011881223465235832,
+        0.0004970547949041691,
+        0.9362803665851415
+      ],
+      "yaw_degrees_local": 138.81331217999053,
+      "yaw_radians": 2.4237742754476175,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0112750319384514,
+        8.566458830263135,
+        0.8621118644726558
+      ],
+      "z_min": 0.7408105072153138,
+      "z_max": 0.862064240125833
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.644314341116766,
+        8.291010662839904,
+        0.7676088835932904
+      ],
+      "rotation_wxyz": [
+        0.9819711513951518,
+        -0.0005099484020495702,
+        -3.365179768456041e-05,
+        -0.18903014745765798
+      ],
+      "yaw_degrees_local": -21.851093561107035,
+      "yaw_radians": -0.38034870969195417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.644314341116766,
+        8.291010662839904,
+        0.7941833682493644
+      ],
+      "z_min": 0.7410096510206247,
+      "z_max": 0.7941586203327726
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        4.898757918932634,
+        8.147462142167761,
+        0.9292339384761311
+      ],
+      "rotation_wxyz": [
+        0.7673068373281212,
+        0.0,
+        0.0,
+        0.6412801395564315
+      ],
+      "yaw_degrees_local": -10.22531470634749,
+      "yaw_radians": 1.3923309181165358,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.898757918932634,
+        8.147462142167761,
+        0.9380671845796134
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9378665211032963
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        1.9559521625800906,
+        8.452267973733202,
+        0.7802903951049475
+      ],
+      "rotation_wxyz": [
+        0.8965041461347673,
+        -0.00042656504611432775,
+        0.0002814641676551281,
+        0.4430350491590433
+      ],
+      "yaw_degrees_local": 52.536677286909594,
+      "yaw_radians": 0.9179624593640873,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9559521625800906,
+        8.452267973733202,
+        0.8195304699448387
+      ],
+      "z_min": 0.7409333215905369,
+      "z_max": 0.8194134712703194
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.1350495283097617,
+        8.242127232314024,
+        0.7527976066199761
+      ],
+      "rotation_wxyz": [
+        0.2418262616220413,
+        -6.116369243182783e-05,
+        0.0005073842912117179,
+        0.9703194309144242
+      ],
+      "yaw_degrees_local": 151.9525800491395,
+      "yaw_radians": 2.653097692746539,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1350495283097617,
+        8.242127232314024,
+        0.7646688771665459
+      ],
+      "z_min": 0.7409970457405267,
+      "z_max": 0.7647395868336662
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.395281466076023,
+        8.78823063582425,
+        0.7439637615572336
+      ],
+      "rotation_wxyz": [
+        0.9743327558962532,
+        -0.0005083606557808482,
+        -5.2433385303436486e-05,
+        -0.22511201568951458
+      ],
+      "yaw_degrees_local": -26.07764422362689,
+      "yaw_radians": -0.4541159026782287,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.395281466076023,
+        8.78823063582425,
+        0.7475388221334535
+      ],
+      "z_min": 0.7404101941105301,
+      "z_max": 0.7475603152629697
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.3718954849523453,
+        8.588055415041325,
+        0.8167657456989925
+      ],
+      "rotation_wxyz": [
+        0.3451774797919727,
+        -0.00011558816011617923,
+        0.0004978144167069382,
+        0.938537290822611
+      ],
+      "yaw_degrees_local": 139.55602374422017,
+      "yaw_radians": 2.4367370350200117,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3718954849523453,
+        8.588055415041325,
+        0.8929516842210786
+      ],
+      "z_min": 0.7406162192117902,
+      "z_max": 0.8929880962559625
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.932258844920801,
+        8.849650382511008,
+        0.8046550701498439
+      ],
+      "rotation_wxyz": [
+        0.44067547161653675,
+        -0.0002803412141841156,
+        -0.00042730389639001476,
+        -0.8976663453286678
+      ],
+      "yaw_degrees_local": -127.76472942403538,
+      "yaw_radians": -2.2288907350569827,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.932258844920801,
+        8.849650382511008,
+        0.8688440242375645
+      ],
+      "z_min": 0.7404065974165774,
+      "z_max": 0.8687845055920185
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.6169190421735986,
+        8.906755110723214,
+        0.7964218486944765
+      ],
+      "rotation_wxyz": [
+        0.1150445944274122,
+        4.588958991395657e-06,
+        0.0005110369435722704,
+        0.9933601965617589
+      ],
+      "yaw_degrees_local": 166.72889346211184,
+      "yaw_radians": 2.9109928943620056,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6169190421735986,
+        8.906755110723214,
+        0.8526041285043692
+      ],
+      "z_min": 0.7402619285245123,
+      "z_max": 0.8526264881442976
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        4.989414344474487,
+        8.303919675194484,
+        1.0065872859386928
+      ],
+      "rotation_wxyz": [
+        -0.6184344510517313,
+        0.0,
+        0.0,
+        0.7858363886664602
+      ],
+      "yaw_degrees_local": 166.40379942149207,
+      "yaw_radians": -1.808094792651418,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.989414344474487,
+        8.303919675194484,
+        1.0929865648969594
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0929985868128653
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        1.8002626726602582,
+        8.455239479202259,
+        0.7776055831400024
+      ],
+      "rotation_wxyz": [
+        0.6099847396034755,
+        -0.00035953278861896405,
+        -0.0003632024093369755,
+        -0.7924129960261026
+      ],
+      "yaw_degrees_local": -104.88189980577906,
+      "yaw_radians": -1.829509856616224,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8002626726602582,
+        8.455239479202259,
+        0.814215796209181
+      ],
+      "z_min": 0.7409500324157177,
+      "z_max": 0.814170458554075
+    }
+  ],
+  "variant_index": 91
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0094/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0094/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..37bae10f56b21470a606867df2f7c497d0852641
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0094/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1912161680301534210
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.74212029, -0.000418802789, -0.000292889126, -0.670266525)
+            double3 xformOp:translate = (2.15580425683, 8.30239799136, 0.741059982506)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.159122351, -1.81501055e-05, 0.000510735147, 0.987258738)
+            double3 xformOp:translate = (1.81118440522, 8.23791220427, 0.741169049788)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.432105513, -0.000161996629, 0.000484702907, 0.901822912)
+            double3 xformOp:translate = (3.59537722851, 8.56949967554, 0.777262253747)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925862457, -0.000493457284, -0.000132965126, -0.377860356)
+            double3 xformOp:translate = (1.97928205837, 8.8288739313, 0.817915937009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.490963087, -0.000304164956, -0.000410686615, -0.871180226)
+            double3 xformOp:translate = (3.29621900519, 8.22715276446, 0.777647376682)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.825751928, -0.000383020166, 0.000338342088, 0.564033237)
+            double3 xformOp:translate = (3.54155770428, 8.29656176638, 0.747871332525)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998689029, -0.000509693775, 3.73104758e-05, -0.0511855658)
+            double3 xformOp:translate = (3.72353097961, 8.345112473, 0.816967593637)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0964333172, -0.000111958161, -0.000498643346, -0.995339316)
+            double3 xformOp:translate = (1.96197577288, 8.34271190366, 0.80634800072)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.699051457, -0.000399800296, -0.000318338718, -0.715071185)
+            double3 xformOp:translate = (2.77579939696, 8.29545313785, 0.748982711115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.561066847, -0.000336965652, -0.000384231656, -0.827770337)
+            double3 xformOp:translate = (2.33677549654, 8.26932086596, 0.741070598137)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970785842, -0.000507501767, -6.01811679e-05, -0.239947052)
+            double3 xformOp:translate = (1.79476733542, 8.62440990955, 0.744332700743)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.708056888, -0.000403802263, -0.000313246786, -0.706155211)
+            double3 xformOp:translate = (1.82900187945, 8.85777702656, 0.882173042669)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.458011324, -0.000175949625, 0.000479814074, 0.888946211)
+            double3 xformOp:translate = (2.61989564505, 8.27258963411, 0.744584983505)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.764278513, -0.000346723943, 0.000375449495, 0.644886109)
+            double3 xformOp:translate = (3.36637543094, 8.41938249966, 0.749607460934)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998876931, -0.000509547812, 3.92535783e-05, -0.0473773663)
+            double3 xformOp:translate = (3.2719090121, 8.52133641578, 0.775303323916)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.837142548, -0.000389876576, 0.000330418026, 0.546984545)
+            double3 xformOp:translate = (1.70584243592, 8.78038849921, 0.816781766084)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.8921113, -0.000423781123, 0.000285638541, 0.451815412)
+            double3 xformOp:translate = (1.96015372192, 8.44203184957, 0.799941612155)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.541254857, -0.000221210135, 0.000460701522, 0.840858442)
+            double3 xformOp:translate = (1.75255769902, 8.47842838909, 0.740932535608)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.223463848, -5.15735427e-05, 0.000508448607, 0.974712084)
+            double3 xformOp:translate = (3.19910859791, 8.26193233549, 0.747627262992)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.884422168, 0, 0, -0.466687721)
+            double3 xformOp:translate = (4.91695877777, 8.12640171805, 0.974110062876)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97877956, -0.000509336233, -4.19096394e-05, -0.204915376)
+            double3 xformOp:translate = (2.4205036913, 8.86983973414, 0.747868914685)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00321504502, -6.49806086e-05, -0.000506909594, -0.999994701)
+            double3 xformOp:translate = (3.35682377256, 8.86975098914, 0.824742547116)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.248152926, -6.44733231e-05, 0.000506974365, 0.968720736)
+            double3 xformOp:translate = (3.52765391049, 8.45891555807, 0.748423615208)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.256303394, -6.8741143e-05, 0.000506413341, 0.966596249)
+            double3 xformOp:translate = (3.17562829758, 8.52208020171, 0.79970642255)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.292167348, -8.75763499e-05, 0.000503497963, 0.956367074)
+            double3 xformOp:translate = (3.48082026722, 8.75774086645, 0.787753357732)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.471031786, -0.000294750269, -0.000417495024, -0.882116089)
+            double3 xformOp:translate = (2.16952299635, 8.8609668374, 0.771083742543)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.121545185, -0.000124518351, -0.000495656127, -0.992585768)
+            double3 xformOp:translate = (3.63108545006, 8.67601640319, 0.788017955092)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955950156, -0.000503372774, -8.8293074e-05, -0.293528599)
+            double3 xformOp:translate = (3.63345683118, 8.9071636338, 0.766858635962)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.875881515, -0.000474741775, -0.000189209048, -0.482525968)
+            double3 xformOp:translate = (2.53632987215, 8.26810712504, 0.74698680415)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.137372662, -0.000132413805, -0.000493605511, -0.990519303)
+            double3 xformOp:translate = (1.74451348075, 8.89525465219, 0.745798013122)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0094/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0094/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87a46f157de47e2aee509652fa9344a464004c6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0094/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1912161680301534210,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 1,
+    "small electronic device": 2,
+    "paper_goods": 1,
+    "office_supply": 4,
+    "clock": 2,
+    "small object": 4,
+    "electronics": 6,
+    "electronics accessory": 1,
+    "small_electronics": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 137,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.1558042568273503,
+        8.302397991358157,
+        0.7410599825062687
+      ],
+      "rotation_wxyz": [
+        0.7421202895316404,
+        -0.0004188027890352051,
+        -0.000292889126012978,
+        -0.6702665251119575
+      ],
+      "yaw_degrees_local": -84.23400127590239,
+      "yaw_radians": -1.4691358602261406,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1558042568273503,
+        8.302397991358157,
+        0.7910600763835842
+      ],
+      "z_min": 0.7410599825062687,
+      "z_max": 0.8410601702608997
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.8111844052204518,
+        8.237912204269117,
+        0.7411690497878342
+      ],
+      "rotation_wxyz": [
+        0.15912235114428042,
+        -1.8150105458231998e-05,
+        0.0005107351465409129,
+        0.987258738217343
+      ],
+      "yaw_degrees_local": 161.62937111633454,
+      "yaw_radians": 2.821989483483254,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8111844052204518,
+        8.237912204269117,
+        0.8911690557482986
+      ],
+      "z_min": 0.7411690497878342,
+      "z_max": 1.041169061708763
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.5953772285145926,
+        8.569499675543767,
+        0.7772622537467769
+      ],
+      "rotation_wxyz": [
+        0.43210551313814205,
+        -0.00016199662873876117,
+        0.0004847029074779608,
+        0.9018229118489988
+      ],
+      "yaw_degrees_local": 128.7387710374025,
+      "yaw_radians": 2.247940380740924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5953772285145926,
+        8.569499675543767,
+        0.8138724668159556
+      ],
+      "z_min": 0.7406067030224922,
+      "z_max": 0.8138271291608495
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.9792820583731356,
+        8.82887393129936,
+        0.8179159370087606
+      ],
+      "rotation_wxyz": [
+        0.9258624573680458,
+        -0.0004934572844141269,
+        -0.00013296512587497534,
+        -0.3778603562912993
+      ],
+      "yaw_degrees_local": -44.461138577854825,
+      "yaw_radians": -0.7749683154895916,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9792820583731356,
+        8.82887393129936,
+        0.8952976921421001
+      ],
+      "z_min": 0.7405484196413773,
+      "z_max": 0.8953119299080562
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.296219005190144,
+        8.227152764460808,
+        0.7776473766818998
+      ],
+      "rotation_wxyz": [
+        0.49096308687326107,
+        -0.00030416495622214725,
+        -0.00041068661488620717,
+        -0.8711802259854518
+      ],
+      "yaw_degrees_local": -121.25089767774031,
+      "yaw_radians": -2.1152028898840434,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.296219005190144,
+        8.227152764460808,
+        0.8142575897510784
+      ],
+      "z_min": 0.740991825957615,
+      "z_max": 0.8142122520959724
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.5415577042756836,
+        8.29656176637523,
+        0.7478713325245064
+      ],
+      "rotation_wxyz": [
+        0.8257519281476979,
+        -0.0003830201664777001,
+        0.0003383420877037138,
+        0.564033236592085
+      ],
+      "yaw_degrees_local": 68.61166867214337,
+      "yaw_radians": 1.1985240894425548,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5415577042756836,
+        8.29656176637523,
+        0.754854613333347
+      ],
+      "z_min": 0.7408903289256246,
+      "z_max": 0.7548568905433058
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.723530979612143,
+        8.34511247299604,
+        0.8169675936369298
+      ],
+      "rotation_wxyz": [
+        0.9986890290160036,
+        -0.0005096937753547912,
+        3.7310475806297926e-05,
+        -0.05118556577059602
+      ],
+      "yaw_degrees_local": -5.926709194266522,
+      "yaw_radians": -0.1024159105437417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.723530979612143,
+        8.34511247299604,
+        0.8931535321590159
+      ],
+      "z_min": 0.7408180671497275,
+      "z_max": 0.8931899441938999
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.9619757728812535,
+        8.342711903656545,
+        0.8063480007201618
+      ],
+      "rotation_wxyz": [
+        0.09643331716577676,
+        -0.00011195816065083359,
+        -0.0004986433459939025,
+        -0.995339316093054
+      ],
+      "yaw_degrees_local": -168.99106568695404,
+      "yaw_radians": -2.9484259674733573,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9619757728812535,
+        8.342711903656545,
+        0.8717037250818033
+      ],
+      "z_min": 0.7410436872376592,
+      "z_max": 0.8717551359609422
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        2.775799396963386,
+        8.295453137845794,
+        0.7489827111148792
+      ],
+      "rotation_wxyz": [
+        0.6990514571440236,
+        -0.0003998002964537629,
+        -0.00031833871771400334,
+        -0.7150711846277974
+      ],
+      "yaw_degrees_local": -91.35679233360025,
+      "yaw_radians": -1.593452077441305,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.775799396963386,
+        8.295453137845794,
+        0.7570781364823134
+      ],
+      "z_min": 0.7409884762971278,
+      "z_max": 0.7571793270319961
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.336775496536511,
+        8.26932086596187,
+        0.7410705981374103
+      ],
+      "rotation_wxyz": [
+        0.5610668474895595,
+        -0.00033696565178045296,
+        -0.0003842316563747541,
+        -0.8277703373933566
+      ],
+      "yaw_degrees_local": -111.79948126439506,
+      "yaw_radians": -1.9502444875430152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.336775496536511,
+        8.26932086596187,
+        0.7635676098511933
+      ],
+      "z_min": 0.7410706011323448,
+      "z_max": 0.7860646245599109
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        1.7947673354237965,
+        8.624409909546227,
+        0.7443327007427418
+      ],
+      "rotation_wxyz": [
+        0.9707858419763171,
+        -0.000507501766762063,
+        -6.018116793231257e-05,
+        -0.23994705215633916
+      ],
+      "yaw_degrees_local": -27.825544838631174,
+      "yaw_radians": -0.48462251112128213,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7947673354237965,
+        8.624409909546227,
+        0.7479077613189616
+      ],
+      "z_min": 0.7407791332960383,
+      "z_max": 0.7479292544484779
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.8290018794503027,
+        8.857777026557406,
+        0.882173042668992
+      ],
+      "rotation_wxyz": [
+        0.7080568884739868,
+        -0.0004038022625741853,
+        -0.0003132467860653662,
+        -0.7061552106334132
+      ],
+      "yaw_degrees_local": -89.90462030978915,
+      "yaw_radians": -1.568106881426928,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8290018794503027,
+        8.857777026557406,
+        1.0237338298647434
+      ],
+      "z_min": 0.7405381794298714,
+      "z_max": 1.0236597538213743
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.619895645049758,
+        8.272589634106787,
+        0.7445849835054291
+      ],
+      "rotation_wxyz": [
+        0.4580113243921272,
+        -0.00017594962500225747,
+        0.0004798140740973295,
+        0.8889462107173605
+      ],
+      "yaw_degrees_local": 125.42356953504515,
+      "yaw_radians": 2.19007919837813,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.619895645049758,
+        8.272589634106787,
+        0.7481600440816489
+      ],
+      "z_min": 0.7410314160587256,
+      "z_max": 0.7481815372111652
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        3.366375430938465,
+        8.419382499658164,
+        0.7496074609343027
+      ],
+      "rotation_wxyz": [
+        0.7642785126323239,
+        -0.0003467239431435479,
+        0.0003754494952604176,
+        0.6448861092849703
+      ],
+      "yaw_degrees_local": 80.25557595233852,
+      "yaw_radians": 1.4017487102201809,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.366375430938465,
+        8.419382499658164,
+        0.7584095840576968
+      ],
+      "z_min": 0.7407879569365479,
+      "z_max": 0.758392203183336
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.271909012101762,
+        8.521336415781386,
+        0.7753033239159418
+      ],
+      "rotation_wxyz": [
+        0.9988769313520818,
+        -0.0005095478121176576,
+        3.925357826263658e-05,
+        -0.04737736625048508
+      ],
+      "yaw_degrees_local": -5.489790464094881,
+      "yaw_radians": -0.09479024411666664,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.271909012101762,
+        8.521336415781386,
+        0.8099030508987771
+      ],
+      "z_min": 0.7406965344655585,
+      "z_max": 0.809895988431229
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.7058424359218884,
+        8.78038849921445,
+        0.8167817660842354
+      ],
+      "rotation_wxyz": [
+        0.8371425484726509,
+        -0.0003898765756835246,
+        0.00033041802610269544,
+        0.5469845448976594
+      ],
+      "yaw_degrees_local": 66.26206953385275,
+      "yaw_radians": 1.1575158299764672,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7058424359218884,
+        8.78038849921445,
+        0.8929677046063215
+      ],
+      "z_min": 0.7406322395970331,
+      "z_max": 0.8930041166412054
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        1.9601537219247787,
+        8.442031849571848,
+        0.7999416121553201
+      ],
+      "rotation_wxyz": [
+        0.8921113003914232,
+        -0.00042378112318411365,
+        0.00028563854059479387,
+        0.4518154120148048
+      ],
+      "yaw_degrees_local": 53.66173453521975,
+      "yaw_radians": 0.9375984178348479,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9601537219247787,
+        8.442031849571848,
+        0.8590678901878402
+      ],
+      "z_min": 0.740943181314614,
+      "z_max": 0.8591957373796543
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.7525576990198897,
+        8.47842838909401,
+        0.7409325356084308
+      ],
+      "rotation_wxyz": [
+        0.5412548568435825,
+        -0.00022121013488099424,
+        0.0004607015221010725,
+        0.8408584415723119
+      ],
+      "yaw_degrees_local": 114.40307333169687,
+      "yaw_radians": 1.9977352272133861,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7525576990198897,
+        8.47842838909401,
+        0.7634295473222138
+      ],
+      "z_min": 0.7409325386033653,
+      "z_max": 0.7859265620309314
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.1991085979083196,
+        8.261932335486794,
+        0.7476272629918315
+      ],
+      "rotation_wxyz": [
+        0.22346384832958147,
+        -5.1573542675099426e-05,
+        0.0005084486069764104,
+        0.974712084315116
+      ],
+      "yaw_degrees_local": 154.11615944717192,
+      "yaw_radians": 2.6908592616696216,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1991085979083196,
+        8.261932335486794,
+        0.7542400672753192
+      ],
+      "z_min": 0.7409688397256752,
+      "z_max": 0.7541944482926507
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        4.916958777771869,
+        8.126401718046411,
+        0.9741100628761581
+      ],
+      "rotation_wxyz": [
+        0.8844221677155208,
+        0.0,
+        0.0,
+        -0.46668772134413294
+      ],
+      "yaw_degrees_local": -145.63900653480914,
+      "yaw_radians": -0.9710838565710602,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.916958777771869,
+        8.126401718046411,
+        1.0280302651695563
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0280404334831281
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.4205036913023292,
+        8.869839734139804,
+        0.7478689146848003
+      ],
+      "rotation_wxyz": [
+        0.9787795602882303,
+        -0.0005093362331163192,
+        -4.190963940659926e-05,
+        -0.20491537566069204
+      ],
+      "yaw_degrees_local": -23.70780408526184,
+      "yaw_radians": -0.41275440711831096,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4205036913023292,
+        8.869839734139804,
+        0.7554088173278998
+      ],
+      "z_min": 0.7404509309918885,
+      "z_max": 0.7555307362780874
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.356823772564017,
+        8.869750989144896,
+        0.8247425471159369
+      ],
+      "rotation_wxyz": [
+        0.003215045019417253,
+        -6.498060860592478e-05,
+        -0.0005069095942527782,
+        -0.9999947011388146
+      ],
+      "yaw_degrees_local": -179.69029271534362,
+      "yaw_radians": -3.135162619136071,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.356823772564017,
+        8.869750989144896,
+        0.9091526692106404
+      ],
+      "z_min": 0.7403324284141581,
+      "z_max": 0.9091526726035651
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.527653910491616,
+        8.45891555807261,
+        0.7484236152080208
+      ],
+      "rotation_wxyz": [
+        0.2481529259799742,
+        -6.447332307630906e-05,
+        0.0005069743650834927,
+        0.9687207358923218
+      ],
+      "yaw_degrees_local": 151.20480826804987,
+      "yaw_radians": 2.6400466181404645,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.527653910491616,
+        8.45891555807261,
+        0.7562785215518214
+      ],
+      "z_min": 0.7407274264858005,
+      "z_max": 0.7564372391734017
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.1756282975836396,
+        8.522080201705295,
+        0.7997064225502669
+      ],
+      "rotation_wxyz": [
+        0.2563033942286295,
+        -6.874114296431447e-05,
+        0.0005064133405670434,
+        0.9665962491790808
+      ],
+      "yaw_degrees_local": 150.23962339245168,
+      "yaw_radians": 2.6232009704793193,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1756282975836396,
+        8.522080201705295,
+        0.858832700582787
+      ],
+      "z_min": 0.7407079917095608,
+      "z_max": 0.8589605477746011
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.480820267215038,
+        8.757740866449609,
+        0.7877533577319422
+      ],
+      "rotation_wxyz": [
+        0.2921673478596184,
+        -8.75763499320031e-05,
+        0.0005034979634247789,
+        0.9563670737038477
+      ],
+      "yaw_degrees_local": 145.9657717709601,
+      "yaw_radians": 2.5486082132575456,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.480820267215038,
+        8.757740866449609,
+        0.8351194843931972
+      ],
+      "z_min": 0.7404303028171925,
+      "z_max": 0.8351625561397025
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.1695229963521214,
+        8.860966837395976,
+        0.7710837425430787
+      ],
+      "rotation_wxyz": [
+        0.47103178639864085,
+        -0.0002947502686099835,
+        -0.00041749502439508815,
+        -0.8821160893115425
+      ],
+      "yaw_degrees_local": -123.85611665617549,
+      "yaw_radians": -2.1606725538162808,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1695229963521214,
+        8.860966837395976,
+        0.8016861440484714
+      ],
+      "z_min": 0.7404917418097031,
+      "z_max": 0.8016965448204887
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.631085450056308,
+        8.67601640319091,
+        0.7880179550922033
+      ],
+      "rotation_wxyz": [
+        0.12154518476704262,
+        -0.00012451835063512285,
+        -0.0004956561273659605,
+        -0.9925857680221541
+      ],
+      "yaw_degrees_local": -166.09613263964687,
+      "yaw_radians": -2.8978998745964644,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.631085450056308,
+        8.67601640319091,
+        0.835541432292447
+      ],
+      "z_min": 0.7404941517353457,
+      "z_max": 0.8355411061358333
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.6334568311778543,
+        8.907163633799378,
+        0.766858635962215
+      ],
+      "rotation_wxyz": [
+        0.9559501558625287,
+        -0.0005033727737235527,
+        -8.829307398754293e-05,
+        -0.29352859882231436
+      ],
+      "yaw_degrees_local": -34.197368362154634,
+      "yaw_radians": -0.5958317719203422,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6334568311778543,
+        8.907163633799378,
+        0.7934331206182891
+      ],
+      "z_min": 0.7402594033895493,
+      "z_max": 0.7934083727016973
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.5363298721507737,
+        8.268107125036861,
+        0.7469868041497327
+      ],
+      "rotation_wxyz": [
+        0.8758815153674012,
+        -0.00047474177462637215,
+        -0.000189209047523937,
+        -0.48252596806585335
+      ],
+      "yaw_degrees_local": -57.759733333196294,
+      "yaw_radians": -1.0070725753762897,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5363298721507737,
+        8.268107125036861,
+        0.752804016916305
+      ],
+      "z_min": 0.741046551487423,
+      "z_max": 0.7526809770205677
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.7445134807499638,
+        8.895254652194376,
+        0.7457980131215173
+      ],
+      "rotation_wxyz": [
+        0.13737266209143723,
+        -0.00013241380527997704,
+        -0.0004936055109210076,
+        -0.9905193034616214
+      ],
+      "yaw_degrees_local": -164.26702452079664,
+      "yaw_radians": -2.8659759275419745,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7445134807499638,
+        8.895254652194376,
+        0.7510990037526307
+      ],
+      "z_min": 0.7405108019682496,
+      "z_max": 0.7511127832304766
+    }
+  ],
+  "variant_index": 94
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0095/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0095/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..db7d577c63cd96cfd3d18bbfbc033a62d833fc59
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0095/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8166970478768840586
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.303210826, -9.33948347e-05, 0.000502451213, 0.952923362)
+            double3 xformOp:translate = (1.86508565047, 8.24441319379, 0.741155626927)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.212997116, -4.61174166e-05, 0.000508972494, 0.977052694)
+            double3 xformOp:translate = (2.50055450848, 8.27603536823, 0.741043037089)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.657056637, -0.000285447665, 0.000423909715, 0.753841041)
+            double3 xformOp:translate = (1.99305046888, 8.24395603837, 0.76773912377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970647686, -0.000507467072, -6.0473026e-05, -0.240505319)
+            double3 xformOp:translate = (3.42732285944, 8.3443643201, 0.835729861934)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.456614063, -0.000175195533, 0.000480089931, 0.889664733)
+            double3 xformOp:translate = (3.67101133864, 8.68014970592, 0.740484876127)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.263866516, -7.2705579e-05, 0.000505859383, 0.964559071)
+            double3 xformOp:translate = (3.07451416442, 8.22726273576, 0.780365770036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.742739423, -0.000334236731, 0.000386607842, 0.669580382)
+            double3 xformOp:translate = (2.89682062579, 8.26363390359, 0.841262468536)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.610284695, -0.000259299946, 0.000440390003, 0.792182006)
+            double3 xformOp:translate = (3.25101767098, 8.85796512678, 0.870308974671)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998885352, -0.000509540814, 3.93443165e-05, -0.0471994882)
+            double3 xformOp:translate = (3.56204772038, 8.79223062646, 0.753830752758)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.618089908, -0.000363243576, -0.000359491197, -0.786107248)
+            double3 xformOp:translate = (1.75062005481, 8.57437819239, 0.757613051602)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.861481638, -0.00046903976, -0.000202932303, -0.507788465)
+            double3 xformOp:translate = (2.12218334134, 8.23373765583, 0.746823683537)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.464279367, -0.000179334617, 0.000478559204, 0.885688663)
+            double3 xformOp:translate = (2.45054734274, 8.86978230666, 0.816596745062)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.592808595, -0.000249603766, 0.000445957146, 0.805343224)
+            double3 xformOp:translate = (3.74464624405, 8.60024241275, 0.818516433539)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.717182524, 0, 0, -0.696885376)
+            double3 xformOp:translate = (4.78869365951, 8.00879382034, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.601968417, -0.00025468113, 0.000443077124, 0.798519733)
+            double3 xformOp:translate = (3.73239567895, 8.44599699705, 0.787304842076)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.689116184, -0.000395368828, -0.000323826043, -0.724650691)
+            double3 xformOp:translate = (3.57946730781, 8.52007518878, 0.8134310844)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.675259421, -0.000389160929, -0.000331260603, -0.737580134)
+            double3 xformOp:translate = (2.00491831503, 8.88277213527, 0.750040000025)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.480640273, -0.000188187138, 0.000475147785, 0.876917708)
+            double3 xformOp:translate = (3.2461223303, 8.31523009071, 0.755007964727)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0771371349, 2.404431e-05, 0.000510491613, 0.997020361)
+            double3 xformOp:translate = (3.42874144824, 8.546869811, 0.75585643381)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.157867057, -1.75007601e-05, 0.000510757809, 0.987460243)
+            double3 xformOp:translate = (2.25276360932, 8.30232626284, 0.746988026162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.333175218, -0.000228689467, -0.000457034948, -0.94286479)
+            double3 xformOp:translate = (1.81967630232, 8.3660461167, 0.750071930617)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998055301, -0.000510078573, 3.16174829e-05, -0.0623326137)
+            double3 xformOp:translate = (1.91311841587, 8.77192510507, 0.749648435866)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.644850704, -0.000278594729, 0.000428444621, 0.764308386)
+            double3 xformOp:translate = (3.36549054597, 8.87055519343, 0.766929717049)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.339854157, -0.000231925259, -0.000455401461, -0.940478012)
+            double3 xformOp:translate = (3.67805675123, 8.25991789427, 0.787500454293)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998699604, -0.000509686041, 3.74159873e-05, -0.0509788249)
+            double3 xformOp:translate = (1.75175534679, 8.88782431766, 0.810689126533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.270250338, -0.000198041526, -0.000471125642, -0.962789953)
+            double3 xformOp:translate = (2.65198603814, 8.27351722119, 0.74406583263)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698016652, -0.000399339524, -0.000318916542, -0.716081345)
+            double3 xformOp:translate = (2.36970452611, 8.24343976723, 0.871043909427)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0271494366, 0, 0, 0.999631386)
+            double3 xformOp:translate = (4.96450479433, 8.10051852917, 0.976359949066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.558921727, -0.000335969681, -0.00038510283, -0.829220261)
+            double3 xformOp:translate = (2.26394855937, 8.36612953262, 0.801656164418)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416143629, -0.000153428504, 0.000487482831, 0.909298751)
+            double3 xformOp:translate = (3.17670755156, 8.75297505483, 0.840730701007)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0096/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0096/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..67a45663a590db5a8188aa39af9f4f156327e3af
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0096/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6198927368794543293
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.217371047, -0.00017206809, -0.000481219689, -0.976088913)
+            double3 xformOp:translate = (3.66567464545, 8.44574692946, 0.740723288136)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0267517252, -7.68940895e-05, -0.000505239661, -0.999641978)
+            double3 xformOp:translate = (1.73555324895, 8.73975488385, 0.740669647346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.815117696, -0.000450057853, -0.000242131669, -0.579295158)
+            double3 xformOp:translate = (1.79369212943, 8.5723877029, 0.882466967489)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.40728806, -0.000264400301, -0.000437346884, -0.913299609)
+            double3 xformOp:translate = (3.55588350378, 8.80747737322, 0.74340974824)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.774282301, -0.000432741677, -0.000271872134, -0.632840151)
+            double3 xformOp:translate = (1.89072550889, 8.89338337709, 0.789359764924)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.145761086, -1.12438323e-05, 0.000510933844, 0.989319688)
+            double3 xformOp:translate = (3.34090254865, 8.80296165991, 0.82159187235)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981564986, -0.00050987533, -3.4741389e-05, -0.191128012)
+            double3 xformOp:translate = (2.56051636553, 8.28978878327, 0.841241032608)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992956575, -0.000511049753, 2.82237726e-06, -0.118477758)
+            double3 xformOp:translate = (3.47495506044, 8.2034706721, 0.744502609528)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0866939565, 1.91481314e-05, 0.000510698703, 0.99623486)
+            double3 xformOp:translate = (1.71969765972, 8.47354325016, 0.746592095894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.757719053, -0.000425592764, -0.000282932174, -0.652580705)
+            double3 xformOp:translate = (3.6606868706, 8.84970673041, 0.746254469824)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0357274124, 4.51921497e-05, 0.000509055484, 0.999361442)
+            double3 xformOp:translate = (2.8482179737, 8.31256050878, 0.74669045003)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.843114848, 0, 0, -0.537733533)
+            double3 xformOp:translate = (4.97755893955, 8.23851886913, 1.02041951546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981712197, -0.000485781849, 0.000158731885, 0.190370431)
+            double3 xformOp:translate = (2.20614401795, 8.90984051306, 0.745690667064)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.85808625, -0.000402618387, 0.000314766978, 0.513505333)
+            double3 xformOp:translate = (3.38546954649, 8.32679137574, 0.750428976213)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980441614, -0.000484729598, 0.000161916747, 0.196809501)
+            double3 xformOp:translate = (1.92378540762, 8.58710589135, 0.757578202516)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995462214, 0, 0, -0.0951576606)
+            double3 xformOp:translate = (4.89716037153, 8.09429539628, 0.928212798522)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.939816394, -0.000498241472, -0.000113733249, -0.341679505)
+            double3 xformOp:translate = (3.26392685668, 8.2651371637, 0.752757940305)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.877288289, -0.000414480939, 0.000298973858, 0.479963536)
+            double3 xformOp:translate = (1.9104944823, 8.32721024104, 0.788444107681)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.110538775, 6.90633469e-06, 0.000511010879, 0.993871681)
+            double3 xformOp:translate = (2.1385721643, 8.36451037729, 0.818366727232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.248633486, -0.000187447187, -0.000475440184, -0.968597506)
+            double3 xformOp:translate = (3.65960487986, 8.23413319256, 0.7875156093)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.656972697, -0.000285400463, 0.000423941496, 0.753914195)
+            double3 xformOp:translate = (3.13500252687, 8.88017297408, 0.777005488881)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.368581327, -0.0001280231, 0.00049476247, 0.929595366)
+            double3 xformOp:translate = (2.46382520901, 8.25231579861, 0.818606542657)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978619857, -0.000509303477, -4.23058487e-05, -0.205676724)
+            double3 xformOp:translate = (2.12313044057, 8.22215292999, 0.74679594866)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.655567967, -0.0002846107, 0.000424472102, 0.755136001)
+            double3 xformOp:translate = (3.49229791985, 8.51692406937, 0.74499334082)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990793193, -0.000493870444, 0.000131422225, 0.135383114)
+            double3 xformOp:translate = (2.01598279595, 8.86695980032, 0.749539015588)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.820634628, -0.000452358773, -0.000237805291, -0.571453013)
+            double3 xformOp:translate = (1.71925052195, 8.86577109346, 0.786755928821)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.11557061, 4.31834003e-06, 0.000511039302, 0.993299136)
+            double3 xformOp:translate = (2.47730474128, 8.86234531877, 0.745738545353)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.918516212, -0.000490841954, -0.000142316521, -0.395382988)
+            double3 xformOp:translate = (3.26988451021, 8.5395149765, 0.746406839883)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.817803784, -0.000451179391, -0.000240035359, -0.575496925)
+            double3 xformOp:translate = (3.2418004684, 8.88845470581, 0.774397648602)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999274547, 0, 0, -0.038083851)
+            double3 xformOp:translate = (4.87187887406, 7.69083499591, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0096/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0096/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcd68c205ad133ea3600b8cc6593a0efb33a85aa
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0096/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6198927368794543293,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "small object": 4,
+    "electronics": 6,
+    "clock": 2,
+    "writing_instrument": 3,
+    "office_supply": 3,
+    "book": 2,
+    "paper_goods": 1,
+    "small electronic device": 1,
+    "decorative_object": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 135,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.665674645454851,
+        8.445746929463462,
+        0.7407232881357908
+      ],
+      "rotation_wxyz": [
+        0.2173710472263703,
+        -0.00017206808979268825,
+        -0.0004812196886198735,
+        -0.9760889132901239
+      ],
+      "yaw_degrees_local": -154.94936965423503,
+      "yaw_radians": -2.703352219893438,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.665674645454851,
+        8.445746929463462,
+        0.7632202998495738
+      ],
+      "z_min": 0.7407232911307253,
+      "z_max": 0.7857173145582914
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7355532489480843,
+        8.739754883851848,
+        0.7406696473464586
+      ],
+      "rotation_wxyz": [
+        0.02675172516300689,
+        -7.689408945601262e-05,
+        -0.0005052396611975779,
+        -0.999641977920589
+      ],
+      "yaw_degrees_local": -176.9928223653467,
+      "yaw_radians": -3.0880829034765997,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7355532489480843,
+        8.739754883851848,
+        0.7906697412237741
+      ],
+      "z_min": 0.7406696473464586,
+      "z_max": 0.8406698351010896
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.7936921294263932,
+        8.572387702897636,
+        0.8824669674890171
+      ],
+      "rotation_wxyz": [
+        0.8151176959264352,
+        -0.00045005785304661145,
+        -0.0002421316690385364,
+        -0.5792951584535844
+      ],
+      "yaw_degrees_local": -70.86068724916005,
+      "yaw_radians": -1.2357274050137315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7936921294263932,
+        8.572387702897636,
+        1.0240277546847685
+      ],
+      "z_min": 0.7408321042498965,
+      "z_max": 1.0239536786413994
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.5558835037794116,
+        8.807477373218292,
+        0.7434097482403097
+      ],
+      "rotation_wxyz": [
+        0.4072880595831824,
+        -0.00026440030054134813,
+        -0.00043734688442237406,
+        -0.9132996087490403
+      ],
+      "yaw_degrees_local": -131.9895269211832,
+      "yaw_radians": -2.3026273776343693,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5558835037794116,
+        8.807477373218292,
+        0.7465217514841853
+      ],
+      "z_min": 0.7403703247234691,
+      "z_max": 0.7465943312112202
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        1.8907255088857031,
+        8.893383377087185,
+        0.7893597649237971
+      ],
+      "rotation_wxyz": [
+        0.7742823013643274,
+        -0.00043274167726784727,
+        -0.00027187213354024146,
+        -0.6328401509181799
+      ],
+      "yaw_degrees_local": -78.57867454803507,
+      "yaw_radians": -1.3704317446805143,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8907255088857031,
+        8.893383377087185,
+        0.8382272294297463
+      ],
+      "z_min": 0.7404941974114789,
+      "z_max": 0.8382291264233773
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.340902548652303,
+        8.802961659906828,
+        0.8215918723495479
+      ],
+      "rotation_wxyz": [
+        0.14576108581201566,
+        -1.1243832335705188e-05,
+        0.0005109338435401585,
+        0.9893196878072761
+      ],
+      "yaw_degrees_local": 163.1785784582015,
+      "yaw_radians": 2.8490282391959822,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.340902548652303,
+        8.802961659906828,
+        0.9028357256429129
+      ],
+      "z_min": 0.7404021838556613,
+      "z_max": 0.9028898904423912
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.5605163655253476,
+        8.289788783265486,
+        0.8412410326080662
+      ],
+      "rotation_wxyz": [
+        0.9815649860644359,
+        -0.0005098753299857033,
+        -3.4741389037901176e-05,
+        -0.19112801195143517
+      ],
+      "yaw_degrees_local": -22.09595533564726,
+      "yaw_radians": -0.38462235192869465,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5605163655253476,
+        8.289788783265486,
+        0.9413297337000792
+      ],
+      "z_min": 0.7410215460438708,
+      "z_max": 0.9411989482278968
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.474955060442597,
+        8.20347067210031,
+        0.7445026095278019
+      ],
+      "rotation_wxyz": [
+        0.9929565749078898,
+        -0.0005110497533772447,
+        2.822377255072228e-06,
+        -0.11847775811255164
+      ],
+      "yaw_degrees_local": -13.667227834315383,
+      "yaw_radians": -0.23751337656303567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.474955060442597,
+        8.20347067210031,
+        0.748082889009127
+      ],
+      "z_min": 0.7409931817250497,
+      "z_max": 0.7481537406876998
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.719697659723598,
+        8.473543250161262,
+        0.7465920958936073
+      ],
+      "rotation_wxyz": [
+        0.0866939564963885,
+        1.9148131361694424e-05,
+        0.0005106987030585332,
+        0.9962348602248299
+      ],
+      "yaw_degrees_local": 169.99440614339113,
+      "yaw_radians": 2.967986813020432,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.719697659723598,
+        8.473543250161262,
+        0.7522409471068894
+      ],
+      "z_min": 0.7409416596238204,
+      "z_max": 0.7522393620503847
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.6606868705966633,
+        8.84970673041026,
+        0.7462544698241625
+      ],
+      "rotation_wxyz": [
+        0.7577190525053065,
+        -0.0004255927643055259,
+        -0.00028293217422395374,
+        -0.6525807048102517
+      ],
+      "yaw_degrees_local": -81.5316427776124,
+      "yaw_radians": -1.421970785237358,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6606868705966633,
+        8.84970673041026,
+        0.7520716825907349
+      ],
+      "z_min": 0.7403142171618529,
+      "z_max": 0.7519486426949975
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        2.8482179736991626,
+        8.312560508781317,
+        0.7466904500299196
+      ],
+      "rotation_wxyz": [
+        0.03572741243311126,
+        4.519214971619356e-05,
+        0.0005090554840529092,
+        0.9993614415320506
+      ],
+      "yaw_degrees_local": 175.8463576786408,
+      "yaw_radians": 3.0701225817190783,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8482179736991626,
+        8.312560508781317,
+        0.7523175769201385
+      ],
+      "z_min": 0.740961948752715,
+      "z_max": 0.7522162025331527
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        4.977558939554369,
+        8.238518869134158,
+        1.0204195154605271
+      ],
+      "rotation_wxyz": [
+        0.8431148483898672,
+        0.0,
+        0.0,
+        -0.5377335329180537
+      ],
+      "yaw_degrees_local": -155.05896698066374,
+      "yaw_radians": -1.1354931817588563,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.977558939554369,
+        8.238518869134158,
+        1.1205082165525402
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.1203774310803578
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.2061440179549576,
+        8.909840513061706,
+        0.7456906670638287
+      ],
+      "rotation_wxyz": [
+        0.9817121969833029,
+        -0.0004857818492051242,
+        0.0001587318847086578,
+        0.19037043130276446
+      ],
+      "yaw_degrees_local": 21.890098341430132,
+      "yaw_radians": 0.3830787579365369,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2061440179549576,
+        8.909840513061706,
+        0.7509265823819622
+      ],
+      "z_min": 0.7404375193947476,
+      "z_max": 0.7509093500310146
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.3854695464917413,
+        8.326791375742028,
+        0.7504289762132641
+      ],
+      "rotation_wxyz": [
+        0.8580862495780072,
+        -0.0004026183869665695,
+        0.00031476697844079883,
+        0.513505333083634
+      ],
+      "yaw_degrees_local": 61.73650174295548,
+      "yaw_radians": 1.0785297388666166,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3854695464917413,
+        8.326791375742028,
+        0.7599328091354686
+      ],
+      "z_min": 0.7408794469692651,
+      "z_max": 0.7598871128136738
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.9237854076181347,
+        8.587105891350918,
+        0.7575782025156795
+      ],
+      "rotation_wxyz": [
+        0.9804416144241659,
+        -0.000484729597975152,
+        0.00016191674739556768,
+        0.1968095005977079
+      ],
+      "yaw_degrees_local": 22.64219059454655,
+      "yaw_radians": 0.39620524048960837,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9237854076181347,
+        8.587105891350918,
+        0.7745292177080849
+      ],
+      "z_min": 0.7408006284050273,
+      "z_max": 0.7747026587898381
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        4.897160371533499,
+        8.094295396284435,
+        0.9282127985218945
+      ],
+      "rotation_wxyz": [
+        0.9954622140637988,
+        0.0,
+        0.0,
+        -0.09515766060175984
+      ],
+      "yaw_degrees_local": -100.92078841764129,
+      "yaw_radians": -0.1906037148015022,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.897160371533499,
+        8.094295396284435,
+        0.9360421377067125
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9358587072659678
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.263926856683708,
+        8.265137163701516,
+        0.7527579403052624
+      ],
+      "rotation_wxyz": [
+        0.9398163941753104,
+        -0.0004982414718147947,
+        -0.00011373324933430749,
+        -0.3416795048865263
+      ],
+      "yaw_degrees_local": -40.01717917524789,
+      "yaw_radians": -0.6974066058528716,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.263926856683708,
+        8.265137163701516,
+        0.7646292108518322
+      ],
+      "z_min": 0.7409573794258131,
+      "z_max": 0.7646999205189525
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.24223360960676052,
+        0.16745497491389888,
+        0.09493466547313689
+      ],
+      "bbox_min_m": [
+        -0.12108198546656723,
+        -0.08364467007205444,
+        -0.047378184785108
+      ],
+      "bbox_max_m": [
+        0.12115162414019334,
+        0.08381030484184444,
+        0.04755648068802887
+      ],
+      "translation_world": [
+        1.910494482302747,
+        8.327210241038628,
+        0.7884441076811031
+      ],
+      "rotation_wxyz": [
+        0.8772882893611372,
+        -0.00041448093879509966,
+        0.00029897385774653516,
+        0.4799635362920746
+      ],
+      "yaw_degrees_local": 57.30733884639943,
+      "yaw_radians": 1.0012262354960768,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.910494482302747,
+        8.327210241038628,
+        0.8359114404176715
+      ],
+      "z_min": 0.741065922895995,
+      "z_max": 0.8360005883691319
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.138572164303077,
+        8.364510377293202,
+        0.818366727232342
+      ],
+      "rotation_wxyz": [
+        0.11053877506581886,
+        6.906334694333092e-06,
+        0.0005110108793180459,
+        0.9938716808658612
+      ],
+      "yaw_degrees_local": 167.24853889089286,
+      "yaw_radians": 2.9200624133975093,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.138572164303077,
+        8.364510377293202,
+        0.8957484823656815
+      ],
+      "z_min": 0.7409992098649587,
+      "z_max": 0.8957627201316376
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.659604879862087,
+        8.234133192562158,
+        0.7875156093002319
+      ],
+      "rotation_wxyz": [
+        0.24863348634476687,
+        -0.00018744718676481716,
+        -0.00047544018384468556,
+        -0.9685975058238746
+      ],
+      "yaw_degrees_local": -151.26537922090344,
+      "yaw_radians": -2.6390544697146443,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.659604879862087,
+        8.234133192562158,
+        0.8338827774361168
+      ],
+      "z_min": 0.740938709967873,
+      "z_max": 0.8336730462396429
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.1350025268739907,
+        8.880172974084223,
+        0.7770054888812548
+      ],
+      "rotation_wxyz": [
+        0.6569726971306534,
+        -0.000285400463374674,
+        0.00042394149566400544,
+        0.7539141954128855
+      ],
+      "yaw_degrees_local": 97.80247635249992,
+      "yaw_radians": 1.7080000495232022,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1350025268739907,
+        8.880172974084223,
+        0.8136157019504334
+      ],
+      "z_min": 0.74034993815697,
+      "z_max": 0.8135703642953274
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.4638252090074593,
+        8.25231579861041,
+        0.8186065426568052
+      ],
+      "rotation_wxyz": [
+        0.3685813270932785,
+        -0.00012802310033090616,
+        0.0004947624703046658,
+        0.9295953658115673
+      ],
+      "yaw_degrees_local": 136.68498238997938,
+      "yaw_radians": 2.386627919633108,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4638252090074593,
+        8.25231579861041,
+        0.8963133764902377
+      ],
+      "z_min": 0.7410717913789594,
+      "z_max": 0.8964854590458243
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.1231304405679894,
+        8.222152929990612,
+        0.7467959486600597
+      ],
+      "rotation_wxyz": [
+        0.9786198567097653,
+        -0.0005093034767266611,
+        -4.2305848702607835e-05,
+        -0.2056767241900321
+      ],
+      "yaw_degrees_local": -23.796946965127887,
+      "yaw_radians": -0.4143102431962203,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1231304405679894,
+        8.222152929990612,
+        0.7524447998733418
+      ],
+      "z_min": 0.7411455123902728,
+      "z_max": 0.7524432148168371
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.492297919854539,
+        8.516924069370774,
+        0.7449933408197305
+      ],
+      "rotation_wxyz": [
+        0.6555679668599015,
+        -0.0002846107002070245,
+        0.000424472102225788,
+        0.7551360007623522
+      ],
+      "yaw_degrees_local": 98.01581608851416,
+      "yaw_radians": 1.7117235320233852,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.492297919854539,
+        8.516924069370774,
+        0.7491299421798575
+      ],
+      "z_min": 0.740673070267263,
+      "z_max": 0.7489462729875171
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        2.0159827959486085,
+        8.86695980032404,
+        0.7495390155880006
+      ],
+      "rotation_wxyz": [
+        0.9907931929718743,
+        -0.0004938704436094188,
+        0.00013142222479226452,
+        0.13538311409028245
+      ],
+      "yaw_degrees_local": 15.502839818128251,
+      "yaw_radians": 0.2716001025039215,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0159827959486085,
+        8.86695980032404,
+        0.7583722616914829
+      ],
+      "z_min": 0.7405051060082013,
+      "z_max": 0.7581715982151658
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        1.7192505219528644,
+        8.865771093461275,
+        0.7867559288211053
+      ],
+      "rotation_wxyz": [
+        0.8206346283061807,
+        -0.0004523587732845316,
+        -0.00023780529109510232,
+        -0.5714530126309252
+      ],
+      "yaw_degrees_local": -69.76194287599598,
+      "yaw_radians": -1.2165506921394378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7192505219528644,
+        8.865771093461275,
+        0.8329485287271878
+      ],
+      "z_min": 0.7405439273648745,
+      "z_max": 0.8329291271770394
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.477304741279341,
+        8.862345318774036,
+        0.7457385453526678
+      ],
+      "rotation_wxyz": [
+        0.11557060967070842,
+        4.318340030084955e-06,
+        0.0005110393019912433,
+        0.9932991357091402
+      ],
+      "yaw_degrees_local": 166.66821178970514,
+      "yaw_radians": 2.9099337999235364,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.477304741279341,
+        8.862345318774036,
+        0.7510395359837813
+      ],
+      "z_min": 0.7404513341994001,
+      "z_max": 0.7510533154616271
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.2698845102110643,
+        8.539514976497786,
+        0.746406839883344
+      ],
+      "rotation_wxyz": [
+        0.918516211864054,
+        -0.0004908419543588198,
+        -0.00014231652076103764,
+        -0.3953829882064887
+      ],
+      "yaw_degrees_local": -46.63844124713489,
+      "yaw_radians": -0.8129694113292919,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2698845102110643,
+        8.539514976497786,
+        0.7520339667735628
+      ],
+      "z_min": 0.7406783386061394,
+      "z_max": 0.7519325923865771
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.241800468398238,
+        8.888454705814096,
+        0.7743976486021671
+      ],
+      "rotation_wxyz": [
+        0.8178037837121407,
+        -0.0004511793908398427,
+        -0.00024003535889885282,
+        -0.5754969245498104
+      ],
+      "yaw_degrees_local": -70.3276000615001,
+      "yaw_radians": -1.2264232754755924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.241800468398238,
+        8.888454705814096,
+        0.8083962047728459
+      ],
+      "z_min": 0.7403280057885413,
+      "z_max": 0.8083251181298989
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.87187887406256,
+        7.69083499591268,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.9992745470065562,
+        0.0,
+        0.0,
+        -0.03808385097179523
+      ],
+      "yaw_degrees_local": -94.36514347643859,
+      "yaw_radians": -0.07618612598580482,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.87187887406256,
+        7.69083499591268,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    }
+  ],
+  "variant_index": 96
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0097/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0097/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..15832191422da0e671c5cd587d2818dde4ad1dac
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0097/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6142746291799846128
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987104843, -0.000510717408, -1.86425811e-05, -0.160074256)
+            double3 xformOp:translate = (3.09464830459, 8.26614414612, 0.74097779973)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905930772, -0.000432587713, 0.000272117046, 0.423425524)
+            double3 xformOp:translate = (3.60171778397, 8.36806566759, 0.740810178377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.847393814, -0.000463363824, -0.000215577789, -0.530964653)
+            double3 xformOp:translate = (3.58533326066, 8.71814367865, 0.752967595597)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0605224582, 3.25424992e-05, 0.000510020394, 0.998166705)
+            double3 xformOp:translate = (3.7459134499, 8.60963065105, 0.781110458276)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.76293174, -0.000427849645, -0.000279507598, -0.646478846)
+            double3 xformOp:translate = (2.28225906063, 8.30414798053, 0.746124401397)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.881713546, -0.000477018836, -0.000183392602, -0.471784869)
+            double3 xformOp:translate = (1.73706699566, 8.72042421222, 0.747670068588)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.808631259, -0.000372799702, 0.000349571449, 0.588315583)
+            double3 xformOp:translate = (1.90230772451, 8.83466878244, 0.805856602232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.864263871, -0.00047014976, -0.000200347248, -0.503038468)
+            double3 xformOp:translate = (1.88184076515, 8.48779941004, 0.744027584831)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.024086992, 5.11172573e-05, 0.000508494683, 0.999709736)
+            double3 xformOp:translate = (2.84657576035, 8.82409338451, 0.745806806277)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.975748308, -0.000480950425, 0.000172819283, 0.218894902)
+            double3 xformOp:translate = (2.10246430027, 8.31073145935, 0.746998544432)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.147648456, -1.22186804e-05, 0.00051091146, 0.989039773)
+            double3 xformOp:translate = (2.59635369084, 8.21541226357, 0.752892955167)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.343867573, -0.000233868035, -0.000454406821, -0.939018014)
+            double3 xformOp:translate = (3.32562751006, 8.87170227324, 0.840553896783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.755799229, 0, 0, -0.654803425)
+            double3 xformOp:translate = (4.85482724153, 8.15538847029, 0.95079202963)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999474585, -0.000508902588, 4.68825358e-05, -0.0324082141)
+            double3 xformOp:translate = (2.1286356074, 8.90655173308, 0.787873746985)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98900942, -0.000510908939, -1.23236381e-05, -0.147851634)
+            double3 xformOp:translate = (3.37005108405, 8.56076107949, 0.767243342382)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.903087092, -0.000485176218, -0.000160573514, -0.429457148)
+            double3 xformOp:translate = (3.31502910759, 8.48535099881, 0.796887500097)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.539720543, -0.00032703218, -0.000392720982, -0.841844091)
+            double3 xformOp:translate = (1.77446189344, 8.86416290069, 0.746228342665)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.453621804, -0.000286496488, -0.000423201581, -0.891194141)
+            double3 xformOp:translate = (3.38942586436, 8.33879475141, 0.740866766501)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.285197779, -8.39088404e-05, 0.000504122131, 0.958468552)
+            double3 xformOp:translate = (1.73957224184, 8.37140098713, 0.746406200059)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99913126, -0.000504035529, 8.44274927e-05, 0.0416709117)
+            double3 xformOp:translate = (2.00713217159, 8.3866927008, 0.841212863934)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987927469, -0.000491179753, 0.000141146261, 0.154916282)
+            double3 xformOp:translate = (3.17170770901, 8.49994775961, 0.787307828731)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.742027571, 0, 0, 0.670369364)
+            double3 xformOp:translate = (4.82075755383, 8.69358201338, 1.00138971739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.92975206, -0.000494816881, -0.000127812639, -0.368185886)
+            double3 xformOp:translate = (2.86725548662, 8.2305514338, 0.787619633591)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93417425, -0.000451130132, 0.000240127925, 0.356816772)
+            double3 xformOp:translate = (3.54301567666, 8.5226559669, 0.827048130707)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.549651248, -0.00022581425, 0.000458462366, 0.835394066)
+            double3 xformOp:translate = (3.17660156908, 8.84069197707, 0.746324947027)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.771241417, -0.000431434145, -0.00027394232, -0.636542549)
+            double3 xformOp:translate = (3.60122099482, 8.85684648041, 0.774384167698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858861762, -0.000467991108, -0.000205339083, -0.512207197)
+            double3 xformOp:translate = (1.88011425817, 8.26245775177, 0.74811642866)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.151006932, -0.000139202101, -0.000491734269, -0.988532572)
+            double3 xformOp:translate = (3.53289347768, 8.23652036108, 0.801626841467)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.749377226, -0.000338074022, 0.000383256796, 0.66214312)
+            double3 xformOp:translate = (3.01374796495, 8.90079395712, 0.840601425482)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.878770155, 0, 0, 0.477245236)
+            double3 xformOp:translate = (4.97893739652, 8.21736833247, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0097/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0097/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf405a662a3e8796461b73dd986800fa9997bfe1
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0097/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6142746291799846128,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 7,
+    "electronics": 7,
+    "office_supply": 6,
+    "small object": 5,
+    "office_supplies": 1,
+    "clock": 1,
+    "small prop": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 245,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.0946483045915625,
+        8.26614414612057,
+        0.7409777997299143
+      ],
+      "rotation_wxyz": [
+        0.9871048430939979,
+        -0.0005107174075834539,
+        -1.8642581139661623e-05,
+        -0.1600742563954545
+      ],
+      "yaw_degrees_local": -18.48112555140972,
+      "yaw_radians": -0.321531699840408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0946483045915625,
+        8.26614414612057,
+        0.8909778056903788
+      ],
+      "z_min": 0.7409777997299143,
+      "z_max": 1.0409778116508432
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.601717783972817,
+        8.368065667588496,
+        0.7408101783771717
+      ],
+      "rotation_wxyz": [
+        0.9059307724016157,
+        -0.00043258771278295235,
+        0.00027211704648832,
+        0.42342552407241124
+      ],
+      "yaw_degrees_local": 50.0433862642505,
+      "yaw_radians": 0.8744463115134504,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.601717783972817,
+        8.368065667588496,
+        0.7633071900909547
+      ],
+      "z_min": 0.7408101813721062,
+      "z_max": 0.7858042047996723
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        3.5853332606635537,
+        8.718143678648698,
+        0.7529675955969382
+      ],
+      "rotation_wxyz": [
+        0.8473938142363445,
+        -0.00046336382383192526,
+        -0.00021557778875424326,
+        -0.5309646526974875
+      ],
+      "yaw_degrees_local": -64.20003123455723,
+      "yaw_radians": -1.119476996281708,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5853332606635537,
+        8.718143678648698,
+        0.765538418362203
+      ],
+      "z_min": 0.7404572034610867,
+      "z_max": 0.7655988489916163
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.7459134498968965,
+        8.609630651048262,
+        0.7811104582758496
+      ],
+      "rotation_wxyz": [
+        0.06052245820634961,
+        3.254249915695096e-05,
+        0.0005100203936990485,
+        0.9981667049510542
+      ],
+      "yaw_degrees_local": 173.00168483514625,
+      "yaw_radians": 3.0204737003413666,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7459134498968965,
+        8.609630651048262,
+        0.8216604674153811
+      ],
+      "z_min": 0.7405469298292846,
+      "z_max": 0.8216469481083476
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.282259060631834,
+        8.304147980533838,
+        0.746124401397422
+      ],
+      "rotation_wxyz": [
+        0.7629317399803938,
+        -0.0004278496452566854,
+        -0.0002795075979182696,
+        -0.6464788464835279
+      ],
+      "yaw_degrees_local": -80.61201322258408,
+      "yaw_radians": -1.4059202145103207,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.282259060631834,
+        8.304147980533838,
+        0.7512540040935
+      ],
+      "z_min": 0.741042188300357,
+      "z_max": 0.7513013936925128
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.7370669956631364,
+        8.72042421221757,
+        0.7476700685877137
+      ],
+      "rotation_wxyz": [
+        0.8817135456352865,
+        -0.00047701883574337615,
+        -0.00018339260232175822,
+        -0.4717848686249228
+      ],
+      "yaw_degrees_local": -56.35915587894607,
+      "yaw_radians": -0.9826278852060125,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7370669956631364,
+        8.72042421221757,
+        0.7546533493965543
+      ],
+      "z_min": 0.7406890649888318,
+      "z_max": 0.7546556266065131
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.9023077245126423,
+        8.834668782442272,
+        0.805856602232397
+      ],
+      "rotation_wxyz": [
+        0.80863125924414,
+        -0.00037279970223849136,
+        0.00034957144942229595,
+        0.5883155831638497
+      ],
+      "yaw_degrees_local": 72.01643600261087,
+      "yaw_radians": 1.2579485177366256,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9023077245126423,
+        8.834668782442272,
+        0.8712123265940385
+      ],
+      "z_min": 0.7405522887498944,
+      "z_max": 0.8712637374731774
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        1.881840765151266,
+        8.487799410044763,
+        0.7440275848307678
+      ],
+      "rotation_wxyz": [
+        0.8642638710036722,
+        -0.00047014975980635287,
+        -0.00020034724753372916,
+        -0.5030384678112916
+      ],
+      "yaw_degrees_local": -60.461174811444124,
+      "yaw_radians": -1.0542216296201787,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.881840765151266,
+        8.487799410044763,
+        0.7470401013159272
+      ],
+      "z_min": 0.7409066555333024,
+      "z_max": 0.7469316885036211
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.8465757603479296,
+        8.824093384511983,
+        0.7458068062767632
+      ],
+      "rotation_wxyz": [
+        0.024086992015866792,
+        5.1117257271454634e-05,
+        0.0005084946826165997,
+        0.9997097356912213
+      ],
+      "yaw_degrees_local": 177.1808562828121,
+      "yaw_radians": 3.0934139641606926,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8465757603479296,
+        8.824093384511983,
+        0.751142246971764
+      ],
+      "z_min": 0.7404433435299531,
+      "z_max": 0.7511142249199547
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.1024643002717442,
+        8.310731459347009,
+        0.7469985444324033
+      ],
+      "rotation_wxyz": [
+        0.9757483080604992,
+        -0.00048095042524251303,
+        0.0001728192833550657,
+        0.2188949020357881
+      ],
+      "yaw_degrees_local": 25.229560085347032,
+      "yaw_radians": 0.4413633460830871,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1024643002717442,
+        8.310731459347009,
+        0.7528157571989756
+      ],
+      "z_min": 0.7410582917700936,
+      "z_max": 0.7526927173032383
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.596353690838464,
+        8.21541226356857,
+        0.7528929551670666
+      ],
+      "rotation_wxyz": [
+        0.1476484555119129,
+        -1.2218680386535331e-05,
+        0.0005109114601278035,
+        0.9890397729136734
+      ],
+      "yaw_degrees_local": 162.95993611837326,
+      "yaw_radians": 2.8452122123606833,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.596353690838464,
+        8.21541226356857,
+        0.7647642257136363
+      ],
+      "z_min": 0.7410923942876172,
+      "z_max": 0.7648349353807566
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.3256275100620747,
+        8.87170227324066,
+        0.8405538967828281
+      ],
+      "rotation_wxyz": [
+        0.34386757268210866,
+        -0.00023386803465840752,
+        -0.0004544068205972777,
+        -0.9390180143521735
+      ],
+      "yaw_degrees_local": -139.8333379005442,
+      "yaw_radians": -2.4395277206014754,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3256275100620747,
+        8.87170227324066,
+        0.9406425978748412
+      ],
+      "z_min": 0.7403344102186328,
+      "z_max": 0.9405118124026588
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        4.8548272415326865,
+        8.155388470288255,
+        0.9507920296297073
+      ],
+      "rotation_wxyz": [
+        0.755799229002078,
+        0.0,
+        0.0,
+        -0.6548034250367546
+      ],
+      "yaw_degrees_local": -171.8094925622916,
+      "yaw_radians": -1.4278450045978008,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8548272415326865,
+        8.155388470288255,
+        0.9813944311351
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9814048319071174
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.1286356073983623,
+        8.90655173308436,
+        0.7878737469849786
+      ],
+      "rotation_wxyz": [
+        0.9994745852079324,
+        -0.0005089025879997793,
+        4.688253584693887e-05,
+        -0.03240821413801639
+      ],
+      "yaw_degrees_local": -3.7730690750698272,
+      "yaw_radians": -0.06482781912574295,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1286356073983623,
+        8.90655173308436,
+        0.835326272723959
+      ],
+      "z_min": 0.74045069741155,
+      "z_max": 0.8353557488895109
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.370051084046734,
+        8.560761079488241,
+        0.7672433423824084
+      ],
+      "rotation_wxyz": [
+        0.9890094202118711,
+        -0.0005109089392294971,
+        -1.2323638087131971e-05,
+        -0.1478516335802976
+      ],
+      "yaw_degrees_local": -17.063604743618612,
+      "yaw_radians": -0.2967913065776243,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.370051084046734,
+        8.560761079488241,
+        0.7938178270384825
+      ],
+      "z_min": 0.7406441098097427,
+      "z_max": 0.7937930791218907
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.315029107593733,
+        8.485350998811796,
+        0.7968875000974095
+      ],
+      "rotation_wxyz": [
+        0.9030870924163463,
+        -0.00048517621827067804,
+        -0.00016057351420728126,
+        -0.4294571484224865
+      ],
+      "yaw_degrees_local": -50.92494624144015,
+      "yaw_radians": -0.8877830322633343,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.315029107593733,
+        8.485350998811796,
+        0.8530697799073022
+      ],
+      "z_min": 0.7407275799274453,
+      "z_max": 0.8530921395472306
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        1.7744618934401806,
+        8.8641629006931,
+        0.746228342665252
+      ],
+      "rotation_wxyz": [
+        0.5397205432524184,
+        -0.00032703218025470477,
+        -0.0003927209815099862,
+        -0.8418440912731397
+      ],
+      "yaw_degrees_local": -114.72946674177433,
+      "yaw_radians": -2.001382403760293,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7744618934401806,
+        8.8641629006931,
+        0.7520593936900382
+      ],
+      "z_min": 0.7405385419359273,
+      "z_max": 0.7522006439854997
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.3894258643642226,
+        8.338794751411756,
+        0.7408667665012253
+      ],
+      "rotation_wxyz": [
+        0.45362180393417406,
+        -0.0002864964882449287,
+        -0.00042320158135767413,
+        -0.8911941414841604
+      ],
+      "yaw_degrees_local": -126.10611544651084,
+      "yaw_radians": -2.1999424524586977,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3894258643642226,
+        8.338794751411756,
+        0.9183667611368073
+      ],
+      "z_min": 0.7408667665012253,
+      "z_max": 1.0958667557723891
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.7395722418401744,
+        8.37140098712988,
+        0.7464062000587416
+      ],
+      "rotation_wxyz": [
+        0.28519777863868384,
+        -8.390884035603711e-05,
+        0.0005041221307881829,
+        0.9584685523686964
+      ],
+      "yaw_degrees_local": 146.79994287690545,
+      "yaw_radians": 2.563167240991434,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7395722418401744,
+        8.37140098712988,
+        0.7517416407537424
+      ],
+      "z_min": 0.7410427373119315,
+      "z_max": 0.7517136187019331
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.0071321715874846,
+        8.386692700803955,
+        0.8412128639341775
+      ],
+      "rotation_wxyz": [
+        0.9991312596134992,
+        -0.0005040355292157142,
+        8.442749272924904e-05,
+        0.04167091171700381
+      ],
+      "yaw_degrees_local": 4.717808001193191,
+      "yaw_radians": 0.08336586784459175,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0071321715874846,
+        8.386692700803955,
+        0.9413015650261904
+      ],
+      "z_min": 0.7409933773699822,
+      "z_max": 0.9411707795540082
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.1717077090072263,
+        8.499947759614173,
+        0.7873078287313077
+      ],
+      "rotation_wxyz": [
+        0.9879274692358834,
+        -0.0004911797525864175,
+        0.0001411462606286769,
+        0.15491628174393626
+      ],
+      "yaw_degrees_local": 17.76517373260961,
+      "yaw_radians": 0.3110852641940885,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1717077090072263,
+        8.499947759614173,
+        0.8336749968671926
+      ],
+      "z_min": 0.7407309293989488,
+      "z_max": 0.8334652656707187
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        4.820757553832937,
+        8.693582013382397,
+        1.0013897173902184
+      ],
+      "rotation_wxyz": [
+        0.7420275705140499,
+        0.0,
+        0.0,
+        0.6703693643037524
+      ],
+      "yaw_degrees_local": -5.808842163204304,
+      "yaw_radians": 1.469412905318312,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.820757553832937,
+        8.693582013382397,
+        1.0826335706835835
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0826877354830617
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        2.867255486624105,
+        8.230551433797723,
+        0.7876196335911069
+      ],
+      "rotation_wxyz": [
+        0.9297520596692945,
+        -0.00049481688082708,
+        -0.0001278126390028465,
+        -0.36818588560792065
+      ],
+      "yaw_degrees_local": -43.26627550297104,
+      "yaw_radians": -0.7541140238399886,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.867255486624105,
+        8.230551433797723,
+        0.8339868017269918
+      ],
+      "z_min": 0.741042734258748,
+      "z_max": 0.8337770705305179
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.54301567665678,
+        8.522655966901246,
+        0.8270481307066027
+      ],
+      "rotation_wxyz": [
+        0.9341742501879987,
+        -0.00045113013165569866,
+        0.000240127925391081,
+        0.35681677245594057
+      ],
+      "yaw_degrees_local": 41.75095793691264,
+      "yaw_radians": 0.7297161132564516,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.54301567665678,
+        8.522655966901246,
+        0.9134474096648694
+      ],
+      "z_min": 0.7406608736642417,
+      "z_max": 0.913459431580775
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.1766015690811282,
+        8.84069197706514,
+        0.7463249470271553
+      ],
+      "rotation_wxyz": [
+        0.5496512475430045,
+        -0.00022581424976603318,
+        0.0004584623657868944,
+        0.835394065632862
+      ],
+      "yaw_degrees_local": 113.25509896686629,
+      "yaw_radians": 1.9776992899081944,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1766015690811282,
+        8.84069197706514,
+        0.7521421597937277
+      ],
+      "z_min": 0.7403846943648457,
+      "z_max": 0.7520191198979903
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.601220994819477,
+        8.856846480407826,
+        0.7743841676980457
+      ],
+      "rotation_wxyz": [
+        0.7712414165704577,
+        -0.0004314341449742042,
+        -0.00027394232018928725,
+        -0.6365425486065937
+      ],
+      "yaw_degrees_local": -79.12769583674601,
+      "yaw_radians": -1.380013977847669,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.601220994819477,
+        8.856846480407826,
+        0.8083827238687246
+      ],
+      "z_min": 0.74031452488442,
+      "z_max": 0.8083116372257776
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.8801142581661536,
+        8.262457751766128,
+        0.7481164286596311
+      ],
+      "rotation_wxyz": [
+        0.8588617617149695,
+        -0.0004679911079938078,
+        -0.00020533908317473505,
+        -0.5122071974153067
+      ],
+      "yaw_degrees_local": -61.680643762628605,
+      "yaw_radians": -1.0755053813394475,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8801142581661536,
+        8.262457751766128,
+        0.7550997094684717
+      ],
+      "z_min": 0.7411354250607494,
+      "z_max": 0.7551019866784305
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.5328934776838357,
+        8.236520361081723,
+        0.8016268414674721
+      ],
+      "rotation_wxyz": [
+        0.15100693240901183,
+        -0.0001392021007684186,
+        -0.0004917342690742344,
+        -0.9885325716356564
+      ],
+      "yaw_degrees_local": -162.6881396069923,
+      "yaw_radians": -2.8384191970274326,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5328934776838357,
+        8.236520361081723,
+        0.8622537079227317
+      ],
+      "z_min": 0.7409523506653898,
+      "z_max": 0.862206083575909
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.0137479649451384,
+        8.900793957121166,
+        0.8406014254824252
+      ],
+      "rotation_wxyz": [
+        0.7493772259948759,
+        -0.0003380740218808941,
+        0.00038325679637755847,
+        0.6621431204659673
+      ],
+      "yaw_degrees_local": 82.8683525470156,
+      "yaw_radians": 1.4473502882055316,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0137479649451384,
+        8.900793957121166,
+        0.9408183055450752
+      ],
+      "z_min": 0.7403444200041467,
+      "z_max": 0.9407781801294467
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.9789373965214505,
+        8.217368332468087,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.8787701545787984,
+        0.0,
+        0.0,
+        0.47724523614338465
+      ],
+      "yaw_degrees_local": -32.98872385284443,
+      "yaw_radians": 0.9950344795315721,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9789373965214505,
+        8.217368332468087,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    }
+  ],
+  "variant_index": 97
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0101/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0101/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..714bf844b6bd04f5a1e5fb521ff8e9fe585a41b5
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0101/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7172978385295319640
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998718318, -0.000503259768, 8.89349319e-05, 0.0506108774)
+            double3 xformOp:translate = (3.25373756527, 8.21166289465, 0.741012899581)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.887337675, -0.000479195292, -0.00017762795, -0.46111993)
+            double3 xformOp:translate = (2.17214394794, 8.3083346134, 0.741051888141)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999980913, -0.000507496343, 6.02268847e-05, -0.00615726996)
+            double3 xformOp:translate = (2.87189238704, 8.84569067518, 0.745500444168)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.859822856, -0.000403683597, 0.000313399697, 0.5105922)
+            double3 xformOp:translate = (1.96903153331, 8.72128539958, 0.740658797731)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.875742242, -0.000413518572, 0.000300303524, 0.48277869)
+            double3 xformOp:translate = (3.52708111581, 8.26914802261, 0.812202540485)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984093665, -0.000487795398, 0.00015243184, 0.177649648)
+            double3 xformOp:translate = (3.19326717355, 8.43820175978, 0.747771805486)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.564703458, -0.000234087327, 0.000454293891, 0.825293732)
+            double3 xformOp:translate = (3.00125400412, 8.28431655416, 0.746699706121)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.015552458, 0, 0, 0.999879053)
+            double3 xformOp:translate = (4.92710364309, 8.1835810816, 0.974110062876)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.385614131, -0.000254002092, -0.000443466745, -0.922660003)
+            double3 xformOp:translate = (1.7171217807, 8.89334919709, 0.747174629084)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99767439, -0.000501618739, 9.776736e-05, 0.0681582673)
+            double3 xformOp:translate = (3.56471659944, 8.73187400892, 0.740445883337)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977866638, -0.000509146516, -4.41547419e-05, -0.209228528)
+            double3 xformOp:translate = (1.99906155685, 8.26128605365, 0.871072770029)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905125123, -0.000485936558, -0.000158257632, -0.425144975)
+            double3 xformOp:translate = (1.9105532712, 8.40298956045, 0.76115026996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.114110014, 5.06972852e-06, 0.0005110324, 0.993467988)
+            double3 xformOp:translate = (3.69675456577, 8.5603936163, 0.801277597407)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987103412, -0.000490434541, 0.000143714221, 0.160083079)
+            double3 xformOp:translate = (3.58243384221, 8.86934085744, 0.748316989053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.772475256, -0.000431964953, -0.000273104551, -0.635044658)
+            double3 xformOp:translate = (1.65852467345, 8.41501802288, 0.818376323308)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996589696, -0.00050015917, 0.000104979146, 0.0825149479)
+            double3 xformOp:translate = (2.62785503437, 8.8702089288, 0.779770265531)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0119972753, -6.94299858e-05, -0.000506319359, -0.9999279)
+            double3 xformOp:translate = (3.41742337491, 8.46556919411, 0.743855571394)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.81903089, -0.000451690956, -0.00023907132, -0.573749197)
+            double3 xformOp:translate = (3.37843497126, 8.59727252523, 0.78818583055)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983766371, -0.000510252084, -2.86814679e-05, -0.179453242)
+            double3 xformOp:translate = (2.24920809054, 8.88498308909, 0.882092208807)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997258764, -0.000510413214, 2.56547694e-05, -0.0739911946)
+            double3 xformOp:translate = (2.36562253654, 8.85277369017, 0.813247446367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.791754025, -0.000440208135, -0.000259608578, -0.610839833)
+            double3 xformOp:translate = (2.64607020577, 8.27675864931, 0.746674308728)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.475610588, -0.000185463046, 0.000476217676, 0.879655789)
+            double3 xformOp:translate = (3.37118719629, 8.82648753574, 0.870325674643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0389479844, -8.30536119e-05, -0.000504263734, -0.999241109)
+            double3 xformOp:translate = (3.36935499519, 8.35722599246, 0.775816737197)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988462998, -0.000491670178, 0.000139428304, 0.151461682)
+            double3 xformOp:translate = (1.78347223039, 8.49292977418, 0.818448705705)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.721044305, -0.000409547952, -0.000305696403, -0.692888771)
+            double3 xformOp:translate = (1.86468032912, 8.77078335484, 0.788201644693)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.540283396, -0.000220677927, 0.000460956689, 0.841482971)
+            double3 xformOp:translate = (2.86235688341, 8.29240683493, 0.841200133764)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0987133642, 1.29820034e-05, 0.000510892634, 0.995115777)
+            double3 xformOp:translate = (3.08305274995, 8.85541126538, 0.817749173007)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.23341242, -5.67665067e-05, 0.000507895048, 0.972377695)
+            double3 xformOp:translate = (2.49999762004, 8.28020605161, 0.775645688128)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995932293, -0.000510761251, 1.74000259e-05, -0.0901033102)
+            double3 xformOp:translate = (2.40382016571, 8.33476449683, 0.797155680967)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.505036958, -0.00031079, -0.000405696182, -0.863097567)
+            double3 xformOp:translate = (1.85796863315, 8.64684563888, 0.746035582641)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0101/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0101/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..502de6d726c99f3f3edd28fd619ca00187e9c051
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0101/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7172978385295319640,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 4,
+    "electronics": 6,
+    "office_supply": 2,
+    "small object": 6,
+    "small_electronics": 1,
+    "paper_goods": 2,
+    "paper goods": 2,
+    "writing_instrument": 1,
+    "clock": 2,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 357,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.2537375652731,
+        8.211662894650622,
+        0.7410128995806443
+      ],
+      "rotation_wxyz": [
+        0.9987183176012978,
+        -0.0005032597680481009,
+        8.893493185742175e-05,
+        0.05061087736660296
+      ],
+      "yaw_degrees_local": 5.743348437712086,
+      "yaw_radians": 0.10126491658851659,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2537375652731,
+        8.211662894650622,
+        0.8910129055411088
+      ],
+      "z_min": 0.7410128995806443,
+      "z_max": 1.0410129115015732
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.1721439479418057,
+        8.308334613395347,
+        0.741051888141066
+      ],
+      "rotation_wxyz": [
+        0.8873376746311905,
+        -0.00047919529164792664,
+        -0.00017762795022960529,
+        -0.46111993017033587
+      ],
+      "yaw_degrees_local": -54.97751457295678,
+      "yaw_radians": -0.9585136938048219,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1721439479418057,
+        8.308334613395347,
+        0.7635488998548491
+      ],
+      "z_min": 0.7410518911360006,
+      "z_max": 0.7860459145635667
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.871892387042158,
+        8.845690675184605,
+        0.745500444167993
+      ],
+      "rotation_wxyz": [
+        0.9999809132412297,
+        -0.0005074963434395368,
+        6.0226884659695315e-05,
+        -0.006157269964840197
+      ],
+      "yaw_degrees_local": -0.7642861343641982,
+      "yaw_radians": -0.012314677348910626,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.871892387042158,
+        8.845690675184605,
+        0.750630046864071
+      ],
+      "z_min": 0.740418231070928,
+      "z_max": 0.7506774364630838
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.9690315333108281,
+        8.72128539958314,
+        0.7406587977314818
+      ],
+      "rotation_wxyz": [
+        0.8598228563576019,
+        -0.0004036835965509592,
+        0.00031339969705791845,
+        0.5105921998084565
+      ],
+      "yaw_degrees_local": 61.34786632268944,
+      "yaw_radians": 1.0717467685832147,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9690315333108281,
+        8.72128539958314,
+        0.8906588036919463
+      ],
+      "z_min": 0.7406587977314818,
+      "z_max": 1.0406588096524108
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        3.5270811158121873,
+        8.269148022608192,
+        0.8122025404853886
+      ],
+      "rotation_wxyz": [
+        0.8757422423371719,
+        -0.00041351857214334256,
+        0.00030030352434302833,
+        0.48277869029861514
+      ],
+      "yaw_degrees_local": 57.67537876740454,
+      "yaw_radians": 1.0076497460234966,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5270811158121873,
+        8.269148022608192,
+        0.8836807872154566
+      ],
+      "z_min": 0.740920000615178,
+      "z_max": 0.883876494075314
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.193267173545678,
+        8.438201759780654,
+        0.7477718054860651
+      ],
+      "rotation_wxyz": [
+        0.9840936649089874,
+        -0.0004877953981147754,
+        0.0001524318399100409,
+        0.17764964820168228
+      ],
+      "yaw_degrees_local": 20.407068862513768,
+      "yaw_radians": 0.35719501805630055,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.193267173545678,
+        8.438201759780654,
+        0.7547550862949057
+      ],
+      "z_min": 0.7407908018871834,
+      "z_max": 0.7547573635048646
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.001254004124256,
+        8.284316554159458,
+        0.7466997061209945
+      ],
+      "rotation_wxyz": [
+        0.5647034576505179,
+        -0.00023408732732811645,
+        0.0004542938910272643,
+        0.825293731793556
+      ],
+      "yaw_degrees_local": 111.17787651259158,
+      "yaw_radians": 1.941444908974262,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.001254004124256,
+        8.284316554159458,
+        0.7523268330112133
+      ],
+      "z_min": 0.7409712048437899,
+      "z_max": 0.7522254586242275
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        4.9271036430922495,
+        8.183581081604652,
+        0.9741100628761581
+      ],
+      "rotation_wxyz": [
+        -0.015552457977635381,
+        0.0,
+        0.0,
+        0.9998790532113642
+      ],
+      "yaw_degrees_local": 91.78225225948796,
+      "yaw_radians": -3.11048648356062,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9271036430922495,
+        8.183581081604652,
+        1.0280302651695563
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0280404334831281
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        1.717121780702579,
+        8.893349197087767,
+        0.74717462908364
+      ],
+      "rotation_wxyz": [
+        0.3856141313778471,
+        -0.0002540020917569525,
+        -0.00044346674466458623,
+        -0.9226600026563916
+      ],
+      "yaw_degrees_local": -134.69496100678506,
+      "yaw_radians": -2.349846117609501,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.717121780702579,
+        8.893349197087767,
+        0.7537874333671277
+      ],
+      "z_min": 0.7405162058174837,
+      "z_max": 0.7537418143844592
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.5647165994441483,
+        8.73187400891654,
+        0.7404458833374714
+      ],
+      "rotation_wxyz": [
+        0.9976743904762048,
+        -0.0005016187392505297,
+        9.776735995730729e-05,
+        0.0681582673497287
+      ],
+      "yaw_degrees_local": 7.757712633180432,
+      "yaw_radians": 0.13642218790091787,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5647165994441483,
+        8.73187400891654,
+        0.9179458779730534
+      ],
+      "z_min": 0.7404458833374714,
+      "z_max": 1.0954458726086354
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.9990615568488153,
+        8.26128605364908,
+        0.8710727700289853
+      ],
+      "rotation_wxyz": [
+        0.9778666380777996,
+        -0.000509146516246067,
+        -4.415474192888134e-05,
+        -0.2092285280610791
+      ],
+      "yaw_degrees_local": -24.213005340080286,
+      "yaw_radians": -0.4215718285621357,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9990615568488153,
+        8.26128605364908,
+        1.0012399195437545
+      ],
+      "z_min": 0.741121606913349,
+      "z_max": 1.0014559059428874
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        1.9105532712028328,
+        8.402989560445372,
+        0.7611502699600408
+      ],
+      "rotation_wxyz": [
+        0.9051251232429997,
+        -0.00048593655771584835,
+        -0.00015825763209268814,
+        -0.42514497538431373
+      ],
+      "yaw_degrees_local": -50.3783978991446,
+      "yaw_radians": -0.8782439644345533,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9105532712028328,
+        8.402989560445372,
+        0.7811808996446493
+      ],
+      "z_min": 0.7409890434062059,
+      "z_max": 0.781050302775423
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.69675456577213,
+        8.560393616296578,
+        0.8012775974071881
+      ],
+      "rotation_wxyz": [
+        0.1141100135699602,
+        5.0697285169282766e-06,
+        0.0005110324002380644,
+        0.9934679882226943
+      ],
+      "yaw_degrees_local": 166.83669852589418,
+      "yaw_radians": 2.9128744467142313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.69675456577213,
+        8.560393616296578,
+        0.8619044638624477
+      ],
+      "z_min": 0.7406031066051058,
+      "z_max": 0.861856839515625
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.5824338422083812,
+        8.86934085743967,
+        0.74831698905298
+      ],
+      "rotation_wxyz": [
+        0.9871034123994169,
+        -0.0004904345408268517,
+        0.00014371422130139987,
+        0.16008307858612278
+      ],
+      "yaw_degrees_local": 18.364728868848914,
+      "yaw_radians": 0.321549471891082,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5824338422083812,
+        8.86934085743967,
+        0.756146328237798
+      ],
+      "z_min": 0.7403042194274173,
+      "z_max": 0.7559628977970533
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.6585246734547403,
+        8.415018022882048,
+        0.8183763233079258
+      ],
+      "rotation_wxyz": [
+        0.7724752563101112,
+        -0.00043196495258712855,
+        -0.00027310455136579545,
+        -0.6350446576492177
+      ],
+      "yaw_degrees_local": -78.90531616150687,
+      "yaw_radians": -1.3761327186918253,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6585246734547403,
+        8.415018022882048,
+        0.8957580784412652
+      ],
+      "z_min": 0.7410088059405424,
+      "z_max": 0.8957723162072213
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.627855034372184,
+        8.870208928802414,
+        0.7797702655311284
+      ],
+      "rotation_wxyz": [
+        0.996589696013887,
+        -0.000500159169865995,
+        0.00010497914573509955,
+        0.08251494785269056
+      ],
+      "yaw_degrees_local": 9.407570335615162,
+      "yaw_radians": 0.16521762417781044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.627855034372184,
+        8.870208928802414,
+        0.8191191248570042
+      ],
+      "z_min": 0.7404243015731921,
+      "z_max": 0.8191220202249437
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.417423374912774,
+        8.465569194106314,
+        0.7438555713939339
+      ],
+      "rotation_wxyz": [
+        0.01199727527823369,
+        -6.942998578164616e-05,
+        -0.0005063193590162963,
+        -0.9999278995038005
+      ],
+      "yaw_degrees_local": -178.6838907794891,
+      "yaw_radians": -3.1175976005770183,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.417423374912774,
+        8.465569194106314,
+        0.7468680878790933
+      ],
+      "z_min": 0.7407346420964684,
+      "z_max": 0.7467596750667872
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.378434971263977,
+        8.597272525233002,
+        0.7881858305504305
+      ],
+      "rotation_wxyz": [
+        0.8190308895805439,
+        -0.00045169095629730565,
+        -0.00023907132040363634,
+        -0.5737491967167246
+      ],
+      "yaw_degrees_local": -70.08289021474005,
+      "yaw_radians": -1.2221522816246084,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.378434971263977,
+        8.597272525233002,
+        0.8355847559785309
+      ],
+      "z_min": 0.7406060274381308,
+      "z_max": 0.8354038782943317
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.2492080905358867,
+        8.884983089087273,
+        0.882092208807204
+      ],
+      "rotation_wxyz": [
+        0.9837663710508278,
+        -0.0005102520844049288,
+        -2.8681467897197175e-05,
+        -0.179453241847756
+      ],
+      "yaw_degrees_local": -20.73454178412274,
+      "yaw_radians": -0.3608612138829789,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2492080905358867,
+        8.884983089087273,
+        1.0236529960029555
+      ],
+      "z_min": 0.7404573455680834,
+      "z_max": 1.0235789199595864
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.3656225365381887,
+        8.852773690173576,
+        0.8132474463669266
+      ],
+      "rotation_wxyz": [
+        0.9972587637808052,
+        -0.0005104132140190806,
+        2.565476944010316e-05,
+        -0.07399119462857828
+      ],
+      "yaw_degrees_local": -8.545233444150085,
+      "yaw_radians": -0.1481177563830688,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3656225365381887,
+        8.852773690173576,
+        0.8861098909736703
+      ],
+      "z_min": 0.7404752275650501,
+      "z_max": 0.8862001167785375
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.646070205774197,
+        8.276758649309569,
+        0.7466743087282958
+      ],
+      "rotation_wxyz": [
+        0.7917540254841569,
+        -0.00044020813527037583,
+        -0.0002596085782136082,
+        -0.6108398333031474
+      ],
+      "yaw_degrees_local": -75.35922833041646,
+      "yaw_radians": -1.3142417857586959,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.646070205774197,
+        8.276758649309569,
+        0.7523231599415778
+      ],
+      "z_min": 0.7410238724585089,
+      "z_max": 0.7523215748850731
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.3711871962910394,
+        8.826487535739043,
+        0.8703256746432795
+      ],
+      "rotation_wxyz": [
+        0.47561058786684757,
+        -0.00018546304558031285,
+        0.00047621767603102193,
+        0.8796557892318652
+      ],
+      "yaw_degrees_local": 123.14305591246574,
+      "yaw_radians": 2.1502767244675436,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3711871962910394,
+        8.826487535739043,
+        1.0004928241580486
+      ],
+      "z_min": 0.7403745115276432,
+      "z_max": 1.0007088105571815
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.3693549951918587,
+        8.357225992456605,
+        0.7758167371969217
+      ],
+      "rotation_wxyz": [
+        0.038947984439480395,
+        -8.305361185887648e-05,
+        -0.0005042637343667575,
+        -0.9992411087061451
+      ],
+      "yaw_degrees_local": -175.59447042468088,
+      "yaw_radians": -3.0636770698484286,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3693549951918587,
+        8.357225992456605,
+        0.810929811540107
+      ],
+      "z_min": 0.7408506342099908,
+      "z_max": 0.8110767828963615
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        1.7834722303909367,
+        8.492929774176003,
+        0.8184487057051294
+      ],
+      "rotation_wxyz": [
+        0.9884629975771994,
+        -0.0004916701782987526,
+        0.00013942830419963288,
+        0.15146168241796903
+      ],
+      "yaw_degrees_local": 17.364577265403398,
+      "yaw_radians": 0.3040935392419313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7834722303909367,
+        8.492929774176003,
+        0.8961555395385619
+      ],
+      "z_min": 0.7409139544272836,
+      "z_max": 0.8963276220941485
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.8646803291183893,
+        8.770783354837205,
+        0.7882016446931179
+      ],
+      "rotation_wxyz": [
+        0.7210443048430257,
+        -0.0004095479524955334,
+        -0.00030569640306524524,
+        -0.6928887712134046
+      ],
+      "yaw_degrees_local": -87.77715961392738,
+      "yaw_radians": -1.530975669001626,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8646803291183893,
+        8.770783354837205,
+        0.8356005701212184
+      ],
+      "z_min": 0.7406218415808182,
+      "z_max": 0.8354196924370192
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.8623568834130433,
+        8.29240683492855,
+        0.841200133764024
+      ],
+      "rotation_wxyz": [
+        0.540283395610894,
+        -0.0002206779270814803,
+        0.00046095668857207555,
+        0.841482971454174
+      ],
+      "yaw_degrees_local": 114.53541417993631,
+      "yaw_radians": 2.0000450112922175,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8623568834130433,
+        8.29240683492855,
+        0.9412888348560371
+      ],
+      "z_min": 0.7409806471998287,
+      "z_max": 0.9411580493838547
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.083052749950579,
+        8.855411265377997,
+        0.8177491730073307
+      ],
+      "rotation_wxyz": [
+        0.09871336418980696,
+        1.2982003434278576e-05,
+        0.0005108926343441888,
+        0.9951157774603488
+      ],
+      "yaw_degrees_local": 168.61111792209033,
+      "yaw_radians": 2.9438438915697933,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.083052749950579,
+        8.855411265377997,
+        0.8951309281406702
+      ],
+      "z_min": 0.7403816556399474,
+      "z_max": 0.8951451659066263
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.4999976200434704,
+        8.2802060516097,
+        0.7756456881284631
+      ],
+      "rotation_wxyz": [
+        0.23341241954253683,
+        -5.676650672782247e-05,
+        0.0005078950481686474,
+        0.9723776947377406
+      ],
+      "yaw_degrees_local": 152.9451683843945,
+      "yaw_radians": 2.6704216204578444,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4999976200434704,
+        8.2802060516097,
+        0.8102454151112984
+      ],
+      "z_min": 0.7410388986780798,
+      "z_max": 0.8102383526437503
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.4038201657119416,
+        8.33476449683224,
+        0.7971556809670656
+      ],
+      "rotation_wxyz": [
+        0.9959322930369507,
+        -0.0005107612508194536,
+        1.7400025909744832e-05,
+        -0.09010331018528288
+      ],
+      "yaw_degrees_local": -10.397812724819374,
+      "yaw_radians": -0.18045134765217022,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4038201657119416,
+        8.33476449683224,
+        0.8533379607769582
+      ],
+      "z_min": 0.7409957607971014,
+      "z_max": 0.8533603204168867
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.857968633148277,
+        8.646845638879505,
+        0.7460355826410456
+      ],
+      "rotation_wxyz": [
+        0.5050369584937882,
+        -0.00031079000021718236,
+        -0.00040569618189639935,
+        -0.8630975665447839
+      ],
+      "yaw_degrees_local": -119.39109010100236,
+      "yaw_radians": -2.082743112500515,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.857968633148277,
+        8.646845638879505,
+        0.7513365732721591
+      ],
+      "z_min": 0.740748371487778,
+      "z_max": 0.751350352750005
+    }
+  ],
+  "variant_index": 101
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0104/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0104/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..7b2e9da0371d401514cb8f341dcef28ddae7ea2a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0104/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1074522212671816143
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.758415419, -0.000343314496, 0.000378569641, 0.651771271)
+            double3 xformOp:translate = (3.43950349277, 8.47587859477, 0.740721386765)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0608530586, -9.4092687e-05, -0.000502320995, -0.998146605)
+            double3 xformOp:translate = (3.06410238542, 8.24918808127, 0.740998867319)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.419534549, -0.000155246891, 0.000486906787, 0.907739225)
+            double3 xformOp:translate = (1.82883150901, 8.59355549948, 0.775412916534)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.966213823, -0.000473654394, 0.000191914906, 0.257741317)
+            double3 xformOp:translate = (3.50998323328, 8.71375655599, 0.779828287493)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.276340339, -0.00020102025, -0.0004698624, -0.961059705)
+            double3 xformOp:translate = (1.79411282212, 8.39765619427, 0.741009195282)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0215025393, 5.24316075e-05, 0.000508360839, 0.999768663)
+            double3 xformOp:translate = (3.46725609939, 8.30805892893, 0.749921992882)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999997388, -0.000506973517, 6.44799883e-05, 0.00222751826)
+            double3 xformOp:translate = (3.48217809313, 8.19477746849, 0.82738838382)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.233814758, -5.69766631e-05, 0.000507871515, 0.972281028)
+            double3 xformOp:translate = (3.66332570977, 8.56184280567, 0.748302033313)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.100818746, -0.000114154547, -0.000498145115, -0.994904678)
+            double3 xformOp:translate = (3.2991621117, 8.46153585483, 0.740753715043)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.313728215, 0, 0, 0.949512826)
+            double3 xformOp:translate = (4.8836838562, 8.14990700567, 0.974110062876)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.837398579, -0.000459285113, -0.000224136122, -0.546592497)
+            double3 xformOp:translate = (2.34049273466, 8.88586119272, 0.810616523911)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978974859, -0.000509376035, -4.14230764e-05, -0.203980302)
+            double3 xformOp:translate = (3.61534414675, 8.89618028254, 0.745560037976)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.403407386, -0.000262541358, -0.000438465337, -0.915020338)
+            double3 xformOp:translate = (3.47017020595, 8.86268347382, 0.745622515229)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.272309932, -0.000199049204, -0.000470700787, -0.962209457)
+            double3 xformOp:translate = (2.66097954945, 8.31282052448, 0.794895467502)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.127609328, -1.88011296e-06, 0.000511054089, 0.991824379)
+            double3 xformOp:translate = (2.15580864395, 8.26683044452, 0.789961648739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.949967963, -0.000461956564, 0.000218577101, 0.312346934)
+            double3 xformOp:translate = (1.82940831875, 8.80534547542, 0.743939913038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.481708406, -0.000299798091, -0.000413885154, -0.876331416)
+            double3 xformOp:translate = (3.1854455232, 8.8829280967, 0.745627947407)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999572503, -0.000505047259, 7.81478249e-05, 0.0292326896)
+            double3 xformOp:translate = (2.0606265096, 8.27691828774, 0.752117936686)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.921901524, -0.000442967455, 0.000254871831, 0.387423953)
+            double3 xformOp:translate = (1.90633919267, 8.34010081701, 0.819762961768)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.462686302, -0.000178473961, 0.000478880843, 0.886521926)
+            double3 xformOp:translate = (2.74886320442, 8.86205895014, 0.816566781385)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999784782, -0.000505692954, 7.38542642e-05, 0.020739546)
+            double3 xformOp:translate = (2.03809580703, 8.76896927525, 0.749635598988)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.541240152, -0.000221202078, 0.000460705391, 0.840867907)
+            double3 xformOp:translate = (3.3358514587, 8.30726022106, 0.749725046379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.235857707, 0, 0, 0.971787601)
+            double3 xformOp:translate = (4.96216216044, 8.29799207349, 0.972877952789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.268298258, -7.50304839e-05, 0.000505519775, 0.963335758)
+            double3 xformOp:translate = (1.7838105708, 8.26840370203, 0.81391384944)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0214998113, 5.24329947e-05, 0.000508360696, 0.999768722)
+            double3 xformOp:translate = (2.637913717, 8.17808289859, 0.752368081998)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993986666, -0.000497129615, 0.000118498787, 0.109499989)
+            double3 xformOp:translate = (2.30402869564, 8.22341046248, 0.788645142179)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98862949, -0.000510875881, -1.36253727e-05, -0.150371108)
+            double3 xformOp:translate = (2.13468653336, 8.90298926355, 0.816603085416)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.942363119, -0.000456690819, 0.000229375918, 0.334591527)
+            double3 xformOp:translate = (1.70836599079, 8.6742235642, 0.774809216586)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.944032358, -0.000457837539, 0.000227078409, 0.32985246)
+            double3 xformOp:translate = (3.56647457096, 8.47186741082, 0.767308614126)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.638257519, -0.000274901882, 0.000430823365, 0.769822757)
+            double3 xformOp:translate = (3.63060648964, 8.18831002465, 0.747647261842)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0104/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0104/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c94a03fd0cfc55e678eb1ed400ed0b7faf07961
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0104/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1074522212671816143,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 5,
+    "electronics": 6,
+    "office_supply": 2,
+    "book": 4,
+    "small prop": 1,
+    "small_electronics": 2,
+    "small object": 3,
+    "office_supplies": 2,
+    "paper_object": 1,
+    "timepiece": 1,
+    "clock": 2,
+    "electronics accessory": 1
+  },
+  "failed_sampling_attempt_count": 213,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.439503492772806,
+        8.475878594770993,
+        0.7407213867646647
+      ],
+      "rotation_wxyz": [
+        0.7584154194572672,
+        -0.0003433144962721813,
+        0.0003785696407395752,
+        0.6517712714976333
+      ],
+      "yaw_degrees_local": 81.29186575218483,
+      "yaw_radians": 1.4198353886554638,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.439503492772806,
+        8.475878594770993,
+        0.7907214806419802
+      ],
+      "z_min": 0.7407213867646647,
+      "z_max": 0.8407215745192957
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.064102385420604,
+        8.249188081271049,
+        0.7409988673186695
+      ],
+      "rotation_wxyz": [
+        0.060853058592864724,
+        -9.409268704833682e-05,
+        -0.0005023209954643907,
+        -0.9981466045026038
+      ],
+      "yaw_degrees_local": -173.08115169803358,
+      "yaw_radians": -3.019811403559677,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.064102385420604,
+        8.249188081271049,
+        0.9184988619542515
+      ],
+      "z_min": 0.7409988673186695,
+      "z_max": 1.0959988565898335
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        1.8288315090125016,
+        8.593555499477308,
+        0.7754129165339257
+      ],
+      "rotation_wxyz": [
+        0.41953454918163346,
+        -0.00015524689066745228,
+        0.00048690678695043955,
+        0.9077392251429633
+      ],
+      "yaw_degrees_local": 130.3308724149042,
+      "yaw_radians": 2.2757277909359512,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8288315090125016,
+        8.593555499477308,
+        0.810012643516761
+      ],
+      "z_min": 0.7408061270835424,
+      "z_max": 0.8100055810492129
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.509983233281555,
+        8.713756555994909,
+        0.7798282874929814
+      ],
+      "rotation_wxyz": [
+        0.9662138231755172,
+        -0.00047365439428651506,
+        0.00019191490565713537,
+        0.25774131745751283
+      ],
+      "yaw_degrees_local": 29.813457606231765,
+      "yaw_radians": 0.5213674357096466,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.509983233281555,
+        8.713756555994909,
+        0.8190683623328726
+      ],
+      "z_min": 0.7404712139785707,
+      "z_max": 0.8189513636583533
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.7941128221180906,
+        8.397656194267583,
+        0.7410091952817415
+      ],
+      "rotation_wxyz": [
+        0.27634033872894764,
+        -0.00020102024990723645,
+        -0.0004698624004616084,
+        -0.9610597047069211
+      ],
+      "yaw_degrees_local": -147.97489505491666,
+      "yaw_radians": -2.5816246947335686,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7941128221180906,
+        8.397656194267583,
+        0.891009201242206
+      ],
+      "z_min": 0.7410091952817415,
+      "z_max": 1.0410092072026704
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.467256099389781,
+        8.308058928925671,
+        0.7499219928821603
+      ],
+      "rotation_wxyz": [
+        0.021502539339822036,
+        5.243160754200772e-05,
+        0.0005083608391397527,
+        0.9997686630526701
+      ],
+      "yaw_degrees_local": 177.47708983715506,
+      "yaw_radians": 3.0985842123715184,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.467256099389781,
+        8.308058928925671,
+        0.7587552389856426
+      ],
+      "z_min": 0.740888083302361,
+      "z_max": 0.7585545755093255
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.4821780931255626,
+        8.194777468490601,
+        0.8273883838199575
+      ],
+      "rotation_wxyz": [
+        0.9999973884878867,
+        -0.0005069735174075752,
+        6.447998827313514e-05,
+        0.002227518258224884
+      ],
+      "yaw_degrees_local": 0.19654461512828902,
+      "yaw_radians": 0.0044549742772744495,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4821780931255626,
+        8.194777468490601,
+        0.9137876627782242
+      ],
+      "z_min": 0.7410011267775966,
+      "z_max": 0.9137996846941299
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.663325709766361,
+        8.561842805674846,
+        0.7483020333125968
+      ],
+      "rotation_wxyz": [
+        0.23381475845336808,
+        -5.6976663095122706e-05,
+        0.0005078715153489685,
+        0.9722810280724278
+      ],
+      "yaw_degrees_local": 152.89775169184026,
+      "yaw_radians": 2.669594043384499,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.663325709766361,
+        8.561842805674846,
+        0.7561569396563974
+      ],
+      "z_min": 0.7406058445903765,
+      "z_max": 0.7563156572779777
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.299162111697741,
+        8.461535854826874,
+        0.7407537150432508
+      ],
+      "rotation_wxyz": [
+        0.10081874603059064,
+        -0.0001141545470742942,
+        -0.0004981451150243023,
+        -0.994904678483825
+      ],
+      "yaw_degrees_local": -168.48606999930846,
+      "yaw_radians": -2.9396121336981498,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.299162111697741,
+        8.461535854826874,
+        0.7907538089205663
+      ],
+      "z_min": 0.7407537150432508,
+      "z_max": 0.8407539027978819
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        4.8836838561959155,
+        8.149907005671025,
+        0.9741100628761581
+      ],
+      "rotation_wxyz": [
+        0.31372821465995454,
+        0.0,
+        0.0,
+        0.9495128263095121
+      ],
+      "yaw_degrees_local": 53.43189131855564,
+      "yaw_radians": 2.503358755871467,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8836838561959155,
+        8.149907005671025,
+        1.0280302651695563
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0280404334831281
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.3404927346572846,
+        8.885861192724047,
+        0.8106165239111474
+      ],
+      "rotation_wxyz": [
+        0.8373985793837313,
+        -0.0004592851132014178,
+        -0.0002241361216579636,
+        -0.5465924972649119
+      ],
+      "yaw_degrees_local": -66.3258334655651,
+      "yaw_radians": -1.156579253003781,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3404927346572846,
+        8.885861192724047,
+        0.8807928901430662
+      ],
+      "z_min": 0.7404448517709272,
+      "z_max": 0.880797584234765
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.6153441467460787,
+        8.896180282542254,
+        0.7455600379759432
+      ],
+      "rotation_wxyz": [
+        0.9789748593201587,
+        -0.0005093760349523527,
+        -4.142307637696901e-05,
+        -0.20398030208640142
+      ],
+      "yaw_degrees_local": -23.59834037575783,
+      "yaw_radians": -0.41084390581348534,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6153441467460787,
+        8.896180282542254,
+        0.7508610286070566
+      ],
+      "z_min": 0.7402728268226755,
+      "z_max": 0.7508748080849025
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        3.470170205947386,
+        8.862683473824527,
+        0.7456225152294452
+      ],
+      "rotation_wxyz": [
+        0.4034073860801785,
+        -0.0002625413582455731,
+        -0.0004384653366583067,
+        -0.915020338394804
+      ],
+      "yaw_degrees_local": -132.47597543329877,
+      "yaw_radians": -2.311117507321255,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.470170205947386,
+        8.862683473824527,
+        0.7509721711290951
+      ],
+      "z_min": 0.740325194070152,
+      "z_max": 0.7510245058694517
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.66097954945046,
+        8.312820524483943,
+        0.7948954675024872
+      ],
+      "rotation_wxyz": [
+        0.27230993232611,
+        -0.0001990492039574395,
+        -0.0004707007867469761,
+        -0.9622094572268209
+      ],
+      "yaw_degrees_local": -148.4551709167395,
+      "yaw_radians": -2.590007088924545,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.66097954945046,
+        8.312820524483943,
+        0.8488156697958854
+      ],
+      "z_min": 0.7409854335226609,
+      "z_max": 0.8488258381094573
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        2.1558086439485207,
+        8.26683044451998,
+        0.7899616487386205
+      ],
+      "rotation_wxyz": [
+        0.1276093283501479,
+        -1.8801129646896746e-06,
+        0.000511054088542057,
+        0.9918243786770963
+      ],
+      "yaw_degrees_local": 165.2783550674941,
+      "yaw_radians": 2.885676236299723,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1558086439485207,
+        8.26683044451998,
+        0.8388291132445697
+      ],
+      "z_min": 0.7410960812263023,
+      "z_max": 0.8388310102382007
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e",
+      "asset_source": "sceneforge_base",
+      "category": "paper_object",
+      "asset_usd": "assets/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19845195335365562,
+        0.14869390515001082,
+        0.00659895420068359
+      ],
+      "bbox_min_m": [
+        -0.09910663093709025,
+        -0.07411959395976447,
+        -0.0033486795732065883
+      ],
+      "bbox_max_m": [
+        0.09934532241656534,
+        0.07457431119024631,
+        0.0032502746274769884
+      ],
+      "translation_world": [
+        1.829408318746006,
+        8.805345475423373,
+        0.743939913037876
+      ],
+      "rotation_wxyz": [
+        0.9499679634989793,
+        -0.00046195656413011894,
+        0.00021857710103624287,
+        0.31234693394651103
+      ],
+      "yaw_degrees_local": 36.34274388072669,
+      "yaw_radians": 0.6353249692166577,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.829408318746006,
+        8.805345475423373,
+        0.7472393901382178
+      ],
+      "z_min": 0.7405912334646694,
+      "z_max": 0.747190187665353
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.1854455232003662,
+        8.882928096702434,
+        0.7456279474065112
+      ],
+      "rotation_wxyz": [
+        0.4817084064423268,
+        -0.00029979809076886973,
+        -0.00041388515437455975,
+        -0.8763314156088312
+      ],
+      "yaw_degrees_local": -122.46462160287783,
+      "yaw_radians": -2.1363863757948005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1854455232003662,
+        8.882928096702434,
+        0.7509289380376246
+      ],
+      "z_min": 0.7403407362532435,
+      "z_max": 0.7509427175154705
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        2.0606265095971263,
+        8.276918287739093,
+        0.7521179366861971
+      ],
+      "rotation_wxyz": [
+        0.9995725029614587,
+        -0.0005050472588888627,
+        7.81478248523823e-05,
+        0.02923268963931842
+      ],
+      "yaw_degrees_local": 3.291586780353157,
+      "yaw_radians": 0.058473623702232524,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0606265095971263,
+        8.276918287739093,
+        0.7629973568893333
+      ],
+      "z_min": 0.7410978897251925,
+      "z_max": 0.762856730131465
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        1.9063391926723323,
+        8.3401008170095,
+        0.8197629617677968
+      ],
+      "rotation_wxyz": [
+        0.9219015238620046,
+        -0.0004429674548011688,
+        0.0002548718309803716,
+        0.387423952694071
+      ],
+      "yaw_degrees_local": 45.52990563675351,
+      "yaw_radians": 0.7956711998252411,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9063391926723323,
+        8.3401008170095,
+        0.8984736245924188
+      ],
+      "z_min": 0.7410533917051717,
+      "z_max": 0.8984747173544156
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.7488632044228685,
+        8.862058950137849,
+        0.8165667813849814
+      ],
+      "rotation_wxyz": [
+        0.46268630216581125,
+        -0.00017847396060515023,
+        0.00047888084282650514,
+        0.8865219256218719
+      ],
+      "yaw_degrees_local": 124.8201098136654,
+      "yaw_radians": 2.179546838819378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7488632044228685,
+        8.862058950137849,
+        0.8927527199070675
+      ],
+      "z_min": 0.7404172548977791,
+      "z_max": 0.8927891319419514
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        2.038095807026993,
+        8.768969275251612,
+        0.7496355989883277
+      ],
+      "rotation_wxyz": [
+        0.9997847818665406,
+        -0.0005056929541757989,
+        7.385426417794711e-05,
+        0.020739545999317814
+      ],
+      "yaw_degrees_local": 2.3180372060516277,
+      "yaw_radians": 0.04148198654102954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.038095807026993,
+        8.768969275251612,
+        0.7584688450918099
+      ],
+      "z_min": 0.7406016894085283,
+      "z_max": 0.7582681816154928
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        3.335851458696502,
+        8.307260221064245,
+        0.7497250463785361
+      ],
+      "rotation_wxyz": [
+        0.5412401518727421,
+        -0.00022120207812324942,
+        0.0004607053905417957,
+        0.8408679068801206
+      ],
+      "yaw_degrees_local": 114.40507730283707,
+      "yaw_radians": 1.9977702031161446,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.335851458696502,
+        8.307260221064245,
+        0.7585271695019301
+      ],
+      "z_min": 0.7409055423807812,
+      "z_max": 0.7585097886275693
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        4.962162160437822,
+        8.29799207348867,
+        0.9728779527886744
+      ],
+      "rotation_wxyz": [
+        -0.235857707081646,
+        0.0,
+        0.0,
+        0.9717876012844519
+      ],
+      "yaw_degrees_local": 117.28437410671984,
+      "yaw_radians": -2.6653904910816455,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.962162160437822,
+        8.29799207348867,
+        1.0254269816478925
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.025298086614768
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.7838105708021423,
+        8.268403702033613,
+        0.8139138494403216
+      ],
+      "rotation_wxyz": [
+        0.2682982584534187,
+        -7.503048387175983e-05,
+        0.0005055197748162599,
+        0.9633357583579292
+      ],
+      "yaw_degrees_local": 148.8152286588608,
+      "yaw_radians": 2.598340601453978,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7838105708021423,
+        8.268403702033613,
+        0.8867762940470654
+      ],
+      "z_min": 0.7411416306384452,
+      "z_max": 0.8868665198519325
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        2.637913717003313,
+        8.178082898585368,
+        0.752368081997615
+      ],
+      "rotation_wxyz": [
+        0.021499811296596307,
+        5.243299469301459e-05,
+        0.0005083606960690754,
+        0.9997687217223765
+      ],
+      "yaw_degrees_local": 177.47740252020736,
+      "yaw_radians": 3.0985896697174833,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.637913717003313,
+        8.178082898585368,
+        0.7636010812215271
+      ],
+      "z_min": 0.7411249889376658,
+      "z_max": 0.7635909873854901
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        2.3040286956390097,
+        8.223410462482914,
+        0.7886451421785818
+      ],
+      "rotation_wxyz": [
+        0.9939866655166976,
+        -0.0004971296145376511,
+        0.00011849878729319966,
+        0.10949998901908975
+      ],
+      "yaw_degrees_local": 12.514277107403359,
+      "yaw_radians": 0.21943986341830865,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3040286956390097,
+        8.223410462482914,
+        0.8361686193788256
+      ],
+      "z_min": 0.7411213388217243,
+      "z_max": 0.8361682932222119
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.1346865333556955,
+        8.902989263554288,
+        0.8166030854164421
+      ],
+      "rotation_wxyz": [
+        0.9886294900466106,
+        -0.000510875880677674,
+        -1.362537273338347e-05,
+        -0.150371108363151
+      ],
+      "yaw_degrees_local": -17.35557956834694,
+      "yaw_radians": -0.3018872261016673,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1346865333556955,
+        8.902989263554288,
+        0.8927890239385282
+      ],
+      "z_min": 0.7404535589292398,
+      "z_max": 0.8928254359734121
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.708365990789014,
+        8.674223564197822,
+        0.7748092165857886
+      ],
+      "rotation_wxyz": [
+        0.9423631194155857,
+        -0.0004566908192829398,
+        0.00022937591814091947,
+        0.3345915270677225
+      ],
+      "yaw_degrees_local": 39.03669656896324,
+      "yaw_radians": 0.6823433134071615,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.708365990789014,
+        8.674223564197822,
+        0.8088077727564674
+      ],
+      "z_min": 0.7407395737721628,
+      "z_max": 0.8087366861135205
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.5664745709649024,
+        8.471867410816825,
+        0.7673086141256714
+      ],
+      "rotation_wxyz": [
+        0.9440323582138819,
+        -0.00045783753937818177,
+        0.00022707840887333273,
+        0.329852460147444
+      ],
+      "yaw_degrees_local": 38.460936151066306,
+      "yaw_radians": 0.6722943982421596,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5664745709649024,
+        8.471867410816825,
+        0.7938830987817455
+      ],
+      "z_min": 0.7407093815530057,
+      "z_max": 0.7938583508651537
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.6306064896398276,
+        8.188310024653045,
+        0.7476472618421122
+      ],
+      "rotation_wxyz": [
+        0.6382575193749832,
+        -0.00027490188206135443,
+        0.0004308233645932377,
+        0.7698227573808644
+      ],
+      "yaw_degrees_local": 100.61725820705061,
+      "yaw_radians": 1.7571272821777246,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6306064896398276,
+        8.188310024653045,
+        0.7542600661255999
+      ],
+      "z_min": 0.7409888385759559,
+      "z_max": 0.7542144471429314
+    }
+  ],
+  "variant_index": 104
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0107/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0107/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..e27199f0860c92da290d421105db89d0e3dfb2d0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0107/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2268200914734267806
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.452985908, -0.000173238262, 0.000480799668, 0.89151753)
+            double3 xformOp:translate = (3.34815009111, 8.48156170861, 0.740423500958)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00733754095, 5.96278459e-05, 0.000507567076, 0.999972949)
+            double3 xformOp:translate = (3.37090515051, 8.23445767264, 0.740974935119)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.954148902, -0.000502826974, -9.13501527e-05, -0.299331943)
+            double3 xformOp:translate = (3.45591222988, 8.79519454421, 0.746335703014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.673326825, -0.000388292672, -0.000332277922, -0.739344794)
+            double3 xformOp:translate = (1.8607491342, 8.77487306494, 0.754717308368)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985595167, -0.000510524942, -2.33259572e-05, -0.169120979)
+            double3 xformOp:translate = (3.69401003667, 8.72363563639, 0.805742204931)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.731730201, -0.000327892698, 0.0003920028, 0.681594199)
+            double3 xformOp:translate = (2.69655330735, 8.27529170245, 0.775088621676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995067559, -0.000498330374, 0.000113343085, 0.0991982466)
+            double3 xformOp:translate = (2.30751427163, 8.26742667656, 0.77290813902)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.674362903, -0.000388758224, -0.000331733115, -0.738399901)
+            double3 xformOp:translate = (3.19236995649, 8.57729299302, 0.818017398896)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.483004146, -0.00030040998, -0.000413441241, -0.875617916)
+            double3 xformOp:translate = (1.71176634937, 8.21026550949, 0.780555670845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995905994, -0.000499313341, 0.000108931188, 0.0903935304)
+            double3 xformOp:translate = (3.44699970758, 8.62315277535, 0.788094894954)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.497826353, -0.000197513245, 0.000471347361, 0.867276577)
+            double3 xformOp:translate = (3.01867071606, 8.84231227098, 0.799401519583)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.363644663, -0.000125396598, 0.000495434667, 0.931537599)
+            double3 xformOp:translate = (3.48422042566, 8.86355481164, 0.808375898056)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.501538764, -0.000199531536, 0.000470496528, 0.865135023)
+            double3 xformOp:translate = (1.85933448704, 8.54417911412, 0.771444340077)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.959239375, 0, 0, -0.282594802)
+            double3 xformOp:translate = (4.94865469172, 8.13677710861, 0.929233938476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.552742843, -0.000227511431, 0.000457622514, 0.833351719)
+            double3 xformOp:translate = (1.90916698842, 8.2890505026, 0.825514931971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.937643497, -0.000497514505, -0.000116872297, -0.34759806)
+            double3 xformOp:translate = (3.73919761878, 8.25126437233, 0.882546163379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886478383, -0.000420230619, 0.000290836797, 0.462769722)
+            double3 xformOp:translate = (2.91033984582, 8.30386627846, 0.787553151019)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.524979226, -0.000320143933, -0.00039835622, -0.851114887)
+            double3 xformOp:translate = (2.00467599143, 8.5483198173, 0.787419966999)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999748355, 0, 0, 0.0224327304)
+            double3 xformOp:translate = (4.88399059493, 8.78681625347, 0.932000589776)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.349883676, -0.000236777942, -0.000452897364, -0.936793014)
+            double3 xformOp:translate = (2.92550147611, 8.20861349085, 0.746310730677)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958817698, -0.000504224687, -8.32903454e-05, -0.284021763)
+            double3 xformOp:translate = (3.68204278653, 8.59195019676, 0.788152761177)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0200943179, 5.3147595e-05, 0.000508286484, 0.999797958)
+            double3 xformOp:translate = (2.01291338166, 8.80790013607, 0.744885663209)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.749829521, -0.000338335838, 0.000383025687, 0.661630885)
+            double3 xformOp:translate = (2.04272848793, 8.91396568681, 0.840711095546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.916837624, -0.000490236324, -0.00014438893, -0.399259952)
+            double3 xformOp:translate = (2.58456021071, 8.21464010594, 0.813866922333)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.372134622, -0.000129914784, 0.000494269122, 0.928178626)
+            double3 xformOp:translate = (1.74746815383, 8.54036045509, 0.746233835509)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.720204851, -0.000409177526, -0.000306192045, -0.693761278)
+            double3 xformOp:translate = (3.68995525797, 8.88419042001, 0.758892825401)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93240554, -0.000495733463, -0.000124210105, -0.361413402)
+            double3 xformOp:translate = (2.11802805123, 8.33050344701, 0.746333587263)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.171008503, -0.000149138494, -0.000488812363, -0.98526942)
+            double3 xformOp:translate = (2.46348911975, 8.33617465869, 0.746676544808)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0713677071, 2.69972932e-05, 0.000510343965, 0.997449943)
+            double3 xformOp:translate = (3.25579761735, 8.90580160908, 0.840565678599)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.000840154375, -6.37765687e-05, -0.000507062487, -0.999999516)
+            double3 xformOp:translate = (2.61902708961, 8.8621819557, 0.75045523843)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0107/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0107/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae4776db6046da38dada0a7e5cc7196e96279b1
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0107/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2268200914734267806,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 3,
+    "electronics": 3,
+    "office_supply": 3,
+    "electronics accessory": 1,
+    "small object": 7,
+    "paper_goods": 1,
+    "drinkware": 7,
+    "writing_instrument": 1,
+    "paper goods": 1,
+    "drinkware/container": 2,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 182,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.348150091110572,
+        8.4815617086083,
+        0.7404235009576279
+      ],
+      "rotation_wxyz": [
+        0.4529859080830419,
+        -0.00017323826174486253,
+        0.00048079966816537125,
+        0.8915175297762606
+      ],
+      "yaw_degrees_local": 126.07044455671962,
+      "yaw_radians": 2.2013692977817496,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.348150091110572,
+        8.4815617086083,
+        0.7492355683621337
+      ],
+      "z_min": 0.740727197187449,
+      "z_max": 0.7583513319964605
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.3709051505113683,
+        8.234457672643961,
+        0.7409749351190011
+      ],
+      "rotation_wxyz": [
+        0.007337540952085968,
+        5.9627845888774705e-05,
+        0.0005075670756018137,
+        0.9999729492906098
+      ],
+      "yaw_degrees_local": 179.10046166873832,
+      "yaw_radians": 3.126917381287401,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3709051505113683,
+        8.234457672643961,
+        0.9184749297545831
+      ],
+      "z_min": 0.7409749351190011,
+      "z_max": 1.095974924390165
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.4559122298781837,
+        8.795194544214457,
+        0.7463357030138733
+      ],
+      "rotation_wxyz": [
+        0.9541489018290831,
+        -0.0005028269740556811,
+        -9.135015272193031e-05,
+        -0.2993319427634456
+      ],
+      "yaw_degrees_local": -34.89368008576119,
+      "yaw_radians": -0.6079847004521632,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4559122298781837,
+        8.795194544214457,
+        0.7521529157804456
+      ],
+      "z_min": 0.7403954503515636,
+      "z_max": 0.7520298758847083
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        1.8607491341952347,
+        8.774873064939895,
+        0.7547173083684081
+      ],
+      "rotation_wxyz": [
+        0.6733268253393137,
+        -0.00038829267157687196,
+        -0.0003322779219870139,
+        -0.7393447944624114
+      ],
+      "yaw_degrees_local": -95.40999082088248,
+      "yaw_radians": -1.6641937728793694,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8607491341952347,
+        8.774873064939895,
+        0.7688092336600023
+      ],
+      "z_min": 0.7406181742630782,
+      "z_max": 0.7688020248462667
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.6940100366653237,
+        8.723635636390814,
+        0.8057422049314754
+      ],
+      "rotation_wxyz": [
+        0.9855951670840252,
+        -0.000510524941567214,
+        -2.3325957174475068e-05,
+        -0.169120978712863
+      ],
+      "yaw_degrees_local": -19.532142676877186,
+      "yaw_radians": -0.3398754003982052,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6940100366653237,
+        8.723635636390814,
+        0.8710979292931169
+      ],
+      "z_min": 0.7404378914489729,
+      "z_max": 0.8711493401722559
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.6965533073528323,
+        8.27529170245015,
+        0.7750886216763639
+      ],
+      "rotation_wxyz": [
+        0.7317302009331271,
+        -0.000327892697503491,
+        0.000392002799944333,
+        0.6815941988181452
+      ],
+      "yaw_degrees_local": 85.87799414964411,
+      "yaw_radians": 1.4998784708621173,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6965533073528323,
+        8.27529170245015,
+        0.8090871778470428
+      ],
+      "z_min": 0.7410189788627382,
+      "z_max": 0.8090160912040958
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        2.3075142716256116,
+        8.267426676557145,
+        0.7729081390197949
+      ],
+      "rotation_wxyz": [
+        0.9950675588587821,
+        -0.0004983303737818145,
+        0.00011334308451242062,
+        0.09919824659240978
+      ],
+      "yaw_degrees_local": 11.3272987377118,
+      "yaw_radians": 0.19872319122078314,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3075142716256116,
+        8.267426676557145,
+        0.8047593567632668
+      ],
+      "z_min": 0.7410762463378762,
+      "z_max": 0.8047786818248199
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.192369956487753,
+        8.577292993022914,
+        0.8180173988957204
+      ],
+      "rotation_wxyz": [
+        0.6743629032201068,
+        -0.0003887582236783134,
+        -0.00033173311526405537,
+        -0.7383999008536857
+      ],
+      "yaw_degrees_local": -95.24930574374446,
+      "yaw_radians": -1.6613892877625946,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.192369956487753,
+        8.577292993022914,
+        0.8953991540290599
+      ],
+      "z_min": 0.7406498815283371,
+      "z_max": 0.895413391795016
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.711766349370417,
+        8.210265509491911,
+        0.7805556708450314
+      ],
+      "rotation_wxyz": [
+        0.48300414569008654,
+        -0.0003004099802011435,
+        -0.0004134412413340754,
+        -0.8756179155695558
+      ],
+      "yaw_degrees_local": -122.29511812378006,
+      "yaw_radians": -2.1334279810059393,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.711766349370417,
+        8.210265509491911,
+        0.8199045301709073
+      ],
+      "z_min": 0.7412097068870951,
+      "z_max": 0.8199074255388468
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.4469997075766985,
+        8.623152775347243,
+        0.7880948949544
+      ],
+      "rotation_wxyz": [
+        0.9959059937989764,
+        -0.0004993133410767898,
+        0.00010893118774274906,
+        0.0903935303849637
+      ],
+      "yaw_degrees_local": 10.313784943475525,
+      "yaw_radians": 0.1810340459720007,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4469997075766985,
+        8.623152775347243,
+        0.8356183721546437
+      ],
+      "z_min": 0.7405710915975424,
+      "z_max": 0.83561804599803
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.018670716064253,
+        8.842312270984163,
+        0.7994015195828127
+      ],
+      "rotation_wxyz": [
+        0.49782635335228775,
+        -0.00019751324457345618,
+        0.00047134736072070954,
+        0.8672765768358714
+      ],
+      "yaw_degrees_local": 120.22868781181012,
+      "yaw_radians": 2.0994113998520683,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.018670716064253,
+        8.842312270984163,
+        0.8585277976153328
+      ],
+      "z_min": 0.7404030887421066,
+      "z_max": 0.8586556448071468
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.4842204256646365,
+        8.863554811638688,
+        0.8083758980562582
+      ],
+      "rotation_wxyz": [
+        0.3636446631678059,
+        -0.0001253965977750533,
+        0.0004954346672435772,
+        0.9315375986881888
+      ],
+      "yaw_degrees_local": 137.29289026081972,
+      "yaw_radians": 2.3972379117845057,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4842204256646365,
+        8.863554811638688,
+        0.8764312416098441
+      ],
+      "z_min": 0.7403225629339487,
+      "z_max": 0.8764332500411204
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        1.8593344870355586,
+        8.544179114115467,
+        0.7714443400770983
+      ],
+      "rotation_wxyz": [
+        0.5015387637204572,
+        -0.00019953153573323747,
+        0.00047049652760487867,
+        0.8651350225866129
+      ],
+      "yaw_degrees_local": 119.73756867960975,
+      "yaw_radians": 2.090839752765925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8593344870355586,
+        8.544179114115467,
+        0.802046741582491
+      ],
+      "z_min": 0.7408523393437227,
+      "z_max": 0.8020571423545083
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        4.948654691717036,
+        8.136777108605825,
+        0.9292339384761311
+      ],
+      "rotation_wxyz": [
+        0.9592393746629261,
+        0.0,
+        0.0,
+        -0.28259480196259557
+      ],
+      "yaw_degrees_local": -122.83026364847618,
+      "yaw_radians": -0.5729961949637157,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.948654691717036,
+        8.136777108605825,
+        0.9380671845796134
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9378665211032963
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        1.9091669884194014,
+        8.289050502600112,
+        0.8255149319713383
+      ],
+      "rotation_wxyz": [
+        0.5527428429861596,
+        -0.000227511430885101,
+        0.00045762251371291436,
+        0.8333517194724935
+      ],
+      "yaw_degrees_local": 112.83050423284345,
+      "yaw_radians": 1.9702887119034505,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9091669884194014,
+        8.289050502600112,
+        0.9099250540660418
+      ],
+      "z_min": 0.7411048132695596,
+      "z_max": 0.9099250574589666
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.7391976187757425,
+        8.251264372333546,
+        0.8825461633785048
+      ],
+      "rotation_wxyz": [
+        0.9376434969708098,
+        -0.0004975145046637114,
+        -0.00011687229735713432,
+        -0.3475980601334464
+      ],
+      "yaw_degrees_local": -40.73965983060555,
+      "yaw_radians": -0.7100162694336807,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7391976187757425,
+        8.251264372333546,
+        1.0241069505742562
+      ],
+      "z_min": 0.7409113001393842,
+      "z_max": 1.024032874530887
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.9103398458203276,
+        8.303866278460768,
+        0.7875531510192944
+      ],
+      "rotation_wxyz": [
+        0.8864783830701254,
+        -0.0004202306194667566,
+        0.0002908367973673528,
+        0.4627697215349769
+      ],
+      "yaw_degrees_local": 55.07325237532413,
+      "yaw_radians": 0.9622340586210275,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9103398458203276,
+        8.303866278460768,
+        0.8341347542852123
+      ],
+      "z_min": 0.7409629171545943,
+      "z_max": 0.8341261236864302
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.0046759914254557,
+        8.548319817301293,
+        0.7874199669994011
+      ],
+      "rotation_wxyz": [
+        0.5249792264413845,
+        -0.0003201439332240999,
+        -0.0003983562203105603,
+        -0.8511148868544067
+      ],
+      "yaw_degrees_local": -116.72501159213152,
+      "yaw_radians": -2.0362112462787234,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0046759914254557,
+        8.548319817301293,
+        0.8340015702653191
+      ],
+      "z_min": 0.740829733134701,
+      "z_max": 0.833992939666537
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        4.883990594928943,
+        8.786816253471805,
+        0.9320005897757812
+      ],
+      "rotation_wxyz": [
+        0.9997483546415835,
+        0.0,
+        0.0,
+        0.02243273036094401
+      ],
+      "yaw_degrees_local": -87.42918280636987,
+      "yaw_radians": 0.04486922449572653,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.883990594928943,
+        8.786816253471805,
+        0.9438718603223509
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9439425699894712
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.925501476112169,
+        8.208613490846192,
+        0.7463107306774772
+      ],
+      "rotation_wxyz": [
+        0.34988367627940886,
+        -0.00023677794183256027,
+        -0.00045289736420280627,
+        -0.9367930144345601
+      ],
+      "yaw_degrees_local": -139.0983040232765,
+      "yaw_radians": -2.4266989586956713,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.925501476112169,
+        8.208613490846192,
+        0.7515466459956107
+      ],
+      "z_min": 0.7410575830083961,
+      "z_max": 0.7515294136446631
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.682042786527541,
+        8.591950196761667,
+        0.7881527611768636
+      ],
+      "rotation_wxyz": [
+        0.9588176975381638,
+        -0.0005042246866278882,
+        -8.329034539081095e-05,
+        -0.2840217627362352
+      ],
+      "yaw_degrees_local": -33.05948189202795,
+      "yaw_radians": -0.5759719127602809,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.682042786527541,
+        8.591950196761667,
+        0.835551686604964
+      ],
+      "z_min": 0.7405729580645639,
+      "z_max": 0.8353708089207649
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.012913381662088,
+        8.807900136071456,
+        0.7448856632085519
+      ],
+      "rotation_wxyz": [
+        0.020094317884128902,
+        5.314759497524078e-05,
+        0.0005082864835785625,
+        0.999797958194032
+      ],
+      "yaw_degrees_local": 177.63849507733875,
+      "yaw_radians": 3.1014012637912556,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.012913381662088,
+        8.807900136071456,
+        0.7490222645686789
+      ],
+      "z_min": 0.7405653926560845,
+      "z_max": 0.7488385953763386
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.042728487926154,
+        8.913965686808693,
+        0.8407110955460289
+      ],
+      "rotation_wxyz": [
+        0.7498295211927141,
+        -0.0003383358383887525,
+        0.00038302568673927417,
+        0.661630884986553
+      ],
+      "yaw_degrees_local": 82.79004732326894,
+      "yaw_radians": 1.4459836035157414,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.042728487926154,
+        8.913965686808693,
+        0.9409279756086788
+      ],
+      "z_min": 0.7404540900677503,
+      "z_max": 0.9408878501930503
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.5845602107109626,
+        8.214640105938278,
+        0.8138669223329035
+      ],
+      "rotation_wxyz": [
+        0.9168376244094979,
+        -0.0004902363236420409,
+        -0.00014438893040066717,
+        -0.39925995202040065
+      ],
+      "yaw_degrees_local": -47.122562246748345,
+      "yaw_radians": -0.8214189159388665,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5845602107109626,
+        8.214640105938278,
+        0.8867293669396472
+      ],
+      "z_min": 0.741094703531027,
+      "z_max": 0.8868195927445144
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.747468153833243,
+        8.54036045508832,
+        0.7462338355087695
+      ],
+      "rotation_wxyz": [
+        0.3721346222942823,
+        -0.00012991478426367052,
+        0.0004942691221086308,
+        0.9281786259713569
+      ],
+      "yaw_degrees_local": 136.24663290070657,
+      "yaw_radians": 2.378977278958638,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.747468153833243,
+        8.54036045508832,
+        0.7515692762037703
+      ],
+      "z_min": 0.7408703727619594,
+      "z_max": 0.751541254151961
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        3.6899552579685198,
+        8.884190420009917,
+        0.7588928254005265
+      ],
+      "rotation_wxyz": [
+        0.7202048512808192,
+        -0.0004091775259861814,
+        -0.0003061920450765181,
+        -0.6937612781149991
+      ],
+      "yaw_degrees_local": -87.9159030275501,
+      "yaw_radians": -1.5333971995831759,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6899552579685198,
+        8.884190420009917,
+        0.7778104702755557
+      ],
+      "z_min": 0.7402755409787665,
+      "z_max": 0.7772388395170116
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        2.1180280512308967,
+        8.33050344701379,
+        0.7463335872627584
+      ],
+      "rotation_wxyz": [
+        0.9324055402530746,
+        -0.0004957334626679872,
+        -0.0001242101051908417,
+        -0.3614134022494961
+      ],
+      "yaw_degrees_local": -42.43276280256711,
+      "yaw_radians": -0.7395664852919636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1180280512308967,
+        8.33050344701379,
+        0.7516832431624083
+      ],
+      "z_min": 0.7410362661034652,
+      "z_max": 0.7517355779027649
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.463489119746912,
+        8.336174658689496,
+        0.746676544807998
+      ],
+      "rotation_wxyz": [
+        0.17100850258622707,
+        -0.0001491384937531324,
+        -0.000488812362692843,
+        -0.9852694204446825
+      ],
+      "yaw_degrees_local": -160.36578643341429,
+      "yaw_radians": -2.79788650098738,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.463489119746912,
+        8.336174658689496,
+        0.7525075958327843
+      ],
+      "z_min": 0.7409867440786734,
+      "z_max": 0.7526488461282458
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.2557976173489003,
+        8.905801609075073,
+        0.8405656785985246
+      ],
+      "rotation_wxyz": [
+        0.07136770707115304,
+        2.6997293162181528e-05,
+        0.0005103439647945569,
+        0.9974499432089764
+      ],
+      "yaw_degrees_local": 171.75619338062245,
+      "yaw_radians": 2.998735785007245,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2557976173489003,
+        8.905801609075073,
+        0.9407825586611747
+      ],
+      "z_min": 0.7403086731202461,
+      "z_max": 0.9407424332455461
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.619027089606659,
+        8.862181955701658,
+        0.750455238429769
+      ],
+      "rotation_wxyz": [
+        0.000840154375095415,
+        -6.377656872036504e-05,
+        -0.0005070624868027305,
+        -0.9999995164802882
+      ],
+      "yaw_degrees_local": -179.96243579570063,
+      "yaw_radians": -3.1399124095250075,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.619027089606659,
+        8.862181955701658,
+        0.7604925894105877
+      ],
+      "z_min": 0.7404335459802669,
+      "z_max": 0.7605082479419043
+    }
+  ],
+  "variant_index": 107
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0108/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0108/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..d99df1d32c279159592616c9ca8c833cd5e849c6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0108/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2938403184640253618
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.941241778, -0.0004987143, -0.000111641671, -0.337733111)
+            double3 xformOp:translate = (3.34058578237, 8.32036850717, 0.740587946696)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0264858028, 4.98969382e-05, 0.000508615878, 0.999649059)
+            double3 xformOp:translate = (3.14965784148, 8.78430549266, 0.740445294049)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.334389261, 0, 0, 0.942435049)
+            double3 xformOp:translate = (4.97237247863, 8.41179705364, 0.967296277172)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.526962889, -0.000213390414, 0.000464375223, 0.849888141)
+            double3 xformOp:translate = (1.74214868122, 8.27863614991, 0.74995600176)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981282833, -0.00048542468, 0.000159820827, 0.192571392)
+            double3 xformOp:translate = (3.660793718, 8.37350791336, 0.746486980386)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.288843701, -8.58269513e-05, 0.000503799117, 0.95737613)
+            double3 xformOp:translate = (1.94253211292, 8.74427122267, 0.779995936349)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991583091, -0.000511049659, -2.83942711e-06, -0.129470892)
+            double3 xformOp:translate = (3.07157365185, 8.24370401643, 0.746256633229)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.537321682, -0.000325912804, -0.000393650429, -0.843377228)
+            double3 xformOp:translate = (1.71854751953, 8.74919073214, 0.808715602521)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990814155, -0.000493890798, 0.000131345712, 0.135229617)
+            double3 xformOp:translate = (2.33765333115, 8.3178733247, 0.747679673188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979147751, -0.000483671864, 0.000165049521, 0.203148763)
+            double3 xformOp:translate = (1.92380187572, 8.25294767494, 0.775390589196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.860992231, -0.000404401681, 0.000312472553, 0.508617849)
+            double3 xformOp:translate = (3.24651123785, 8.55096838238, 0.801344203117)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.138376371, -7.43178075e-06, 0.000511003508, 0.990379583)
+            double3 xformOp:translate = (3.49869474523, 8.54658215414, 0.743990858664)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.972766181, -0.000478621353, 0.000179168681, 0.231788042)
+            double3 xformOp:translate = (3.42083377809, 8.79649007189, 0.753776867923)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.154495058, -1.57569884e-05, 0.000510814578, 0.987993429)
+            double3 xformOp:translate = (2.56153246568, 8.26095064917, 0.776016734768)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.708222229, -0.000403875604, -0.000313152219, -0.705989386)
+            double3 xformOp:translate = (1.87250634068, 8.48617084494, 0.749076643963)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.836989791, -0.000389784304, 0.000330526872, 0.547218264)
+            double3 xformOp:translate = (1.83216182733, 8.77001978162, 0.818161503077)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.453312005, 0, 0, 0.891351909)
+            double3 xformOp:translate = (4.97413599813, 8.13637538375, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0390067286, -8.30832568e-05, -0.000504258851, -0.999238817)
+            double3 xformOp:translate = (2.10379800853, 8.28668188818, 0.7886623395)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999132536, -0.000504038115, 8.44120523e-05, 0.0416403049)
+            double3 xformOp:translate = (3.64498918311, 8.72591460114, 0.805746104529)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.785368808, -0.000359057299, 0.00036367248, 0.619027926)
+            double3 xformOp:translate = (2.05519656162, 8.79562653535, 0.745859695269)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0406377075, 4.26901746e-05, 0.000509271406, 0.999173816)
+            double3 xformOp:translate = (2.90621088604, 8.32763017409, 0.780296407927)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958689794, -0.000504187156, -8.35172313e-05, -0.284453189)
+            double3 xformOp:translate = (2.51908269782, 8.84682989399, 0.799460236026)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952736535, -0.000463902172, 0.000214416864, 0.303797355)
+            double3 xformOp:translate = (3.70371382504, 8.28638700842, 0.808933470154)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00673158485, -6.67627941e-05, -0.000506677951, -0.999977212)
+            double3 xformOp:translate = (2.37066322167, 8.18406688167, 0.755251916324)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00851771353, 5.90287688e-05, 0.000507637095, 0.999963593)
+            double3 xformOp:translate = (3.57865195841, 8.2818582452, 0.801575060676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908779476, -0.000434421886, 0.000269179199, 0.41727641)
+            double3 xformOp:translate = (2.32140026612, 8.87970063476, 0.840710540238)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.219132017, -0.000172936156, -0.000480908413, -0.975695085)
+            double3 xformOp:translate = (2.06388831393, 8.36508348854, 0.841265108559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0708054294, 2.72849717e-05, 0.000510328665, 0.997490015)
+            double3 xformOp:translate = (1.69034856674, 8.52359185794, 0.740894614327)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.50041517, 0, 0, 0.865785573)
+            double3 xformOp:translate = (4.87576499299, 8.7752921071, 0.98444850163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0555174874, -9.14066345e-05, -0.00050281671, -0.998457584)
+            double3 xformOp:translate = (3.17090364853, 8.41487800843, 0.813589544239)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0108/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0108/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b156579bafedc0a5a09a4cb65cd9f9459324494
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0108/placement.json
@@ -0,0 +1,1545 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2938403184640253618,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 2,
+    "drinkware": 7,
+    "electronics accessory": 2,
+    "office_supplies": 2,
+    "office_supply": 2,
+    "writing_instrument": 2,
+    "electronics": 2,
+    "small object": 4,
+    "paper_object": 1,
+    "clock": 2,
+    "stationery": 1,
+    "paper goods": 1,
+    "drinkware/container": 2
+  },
+  "failed_sampling_attempt_count": 165,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.340585782365752,
+        8.320368507165478,
+        0.7405879466956987
+      ],
+      "rotation_wxyz": [
+        0.9412417778282294,
+        -0.0004987143004318572,
+        -0.00011164167136457548,
+        -0.3377331113333993
+      ],
+      "yaw_degrees_local": -39.53636180018148,
+      "yaw_radians": -0.6890147613962044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.340585782365752,
+        8.320368507165478,
+        0.7494000141002045
+      ],
+      "z_min": 0.7408916429255198,
+      "z_max": 0.7585157777345314
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.1496578414823433,
+        8.78430549265863,
+        0.740445294049225
+      ],
+      "rotation_wxyz": [
+        0.026485802771792043,
+        4.9896938156964784e-05,
+        0.000508615878441553,
+        0.9996490589560507
+      ],
+      "yaw_degrees_local": 176.90588479378437,
+      "yaw_radians": 3.088614808807739,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1496578414823433,
+        8.78430549265863,
+        0.7904453879265405
+      ],
+      "z_min": 0.740445294049225,
+      "z_max": 0.840445481803856
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        4.972372478625237,
+        8.411797053642482,
+        0.9672962771721464
+      ],
+      "rotation_wxyz": [
+        0.3343892608093825,
+        0.0,
+        0.0,
+        0.942435049356376
+      ],
+      "yaw_degrees_local": 50.929193005192985,
+      "yaw_radians": 2.4596784301191796,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.972372478625237,
+        8.411797053642482,
+        1.0144020278587789
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0144115302695966
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        1.7421486812249576,
+        8.278636149911874,
+        0.7499560017600626
+      ],
+      "rotation_wxyz": [
+        0.526962889395506,
+        -0.0002133904137813324,
+        0.0004643752227956874,
+        0.8498881408868603
+      ],
+      "yaw_degrees_local": 116.34032382492245,
+      "yaw_radians": 2.0315466341902404,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7421486812249576,
+        8.278636149911874,
+        0.7587581248834566
+      ],
+      "z_min": 0.7411364977623077,
+      "z_max": 0.7587407440090959
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.6607937179995074,
+        8.373507913363635,
+        0.746486980385743
+      ],
+      "rotation_wxyz": [
+        0.9812828327376785,
+        -0.00048542467969205067,
+        0.0001598208265095092,
+        0.1925713919420571
+      ],
+      "yaw_degrees_local": 22.14706425474546,
+      "yaw_radians": 0.38756365796158787,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6607937179995074,
+        8.373507913363635,
+        0.7523180314105292
+      ],
+      "z_min": 0.7407971796564183,
+      "z_max": 0.7524592817059907
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        1.9425321129171047,
+        8.744271222674737,
+        0.7799959363493009
+      ],
+      "rotation_wxyz": [
+        0.2888437011244856,
+        -8.582695134673887e-05,
+        0.0005037991173700457,
+        0.9573761304424154
+      ],
+      "yaw_degrees_local": 146.36379954948973,
+      "yaw_radians": 2.5555551063392454,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9425321129171047,
+        8.744271222674737,
+        0.8192360111891921
+      ],
+      "z_min": 0.7406388628348903,
+      "z_max": 0.8191190125146728
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.0715736518512164,
+        8.24370401643472,
+        0.7462566332289764
+      ],
+      "rotation_wxyz": [
+        0.9915830913409958,
+        -0.0005110496589315207,
+        -2.8394271057701484e-06,
+        -0.12947089165838946
+      ],
+      "yaw_degrees_local": -14.936748870857969,
+      "yaw_radians": -0.25967068735674714,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0715736518512164,
+        8.24370401643472,
+        0.7514925485471099
+      ],
+      "z_min": 0.7410034855598953,
+      "z_max": 0.7514753161961623
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.718547519533096,
+        8.749190732140498,
+        0.808715602521117
+      ],
+      "rotation_wxyz": [
+        0.5373216816395214,
+        -0.00032591280431985435,
+        -0.00039365042896036696,
+        -0.8433772283268388
+      ],
+      "yaw_degrees_local": -115.05570176295134,
+      "yaw_radians": -2.0070762814387337,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.718547519533096,
+        8.749190732140498,
+        0.8767709460747029
+      ],
+      "z_min": 0.7406622673988075,
+      "z_max": 0.8767729545059791
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.337653331154135,
+        8.317873324699605,
+        0.7476796731880239
+      ],
+      "rotation_wxyz": [
+        0.9908141549195773,
+        -0.0004938907978910823,
+        0.0001313457117641181,
+        0.13522961669393385
+      ],
+      "yaw_degrees_local": 15.485087051983555,
+      "yaw_radians": 0.2712902583971108,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.337653331154135,
+        8.317873324699605,
+        0.7542924774715116
+      ],
+      "z_min": 0.7410212499218676,
+      "z_max": 0.7542468584888431
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.9238018757213367,
+        8.252947674940577,
+        0.7753905891962296
+      ],
+      "rotation_wxyz": [
+        0.9791477513833399,
+        -0.0004836718636822056,
+        0.00016504952142461533,
+        0.20314876268669038
+      ],
+      "yaw_degrees_local": 23.38359428297275,
+      "yaw_radians": 0.4091451725988836,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9238018757213367,
+        8.252947674940577,
+        0.8095961089087315
+      ],
+      "z_min": 0.7411395494613561,
+      "z_max": 0.8095505888863598
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.246511237851516,
+        8.55096838238073,
+        0.8013442031168123
+      ],
+      "rotation_wxyz": [
+        0.8609922310995877,
+        -0.00040440168130833834,
+        0.00031247255302714475,
+        0.5086178494767344
+      ],
+      "yaw_degrees_local": 61.08491676471431,
+      "yaw_radians": 1.067157431282587,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.246511237851516,
+        8.55096838238073,
+        0.8619710695720719
+      ],
+      "z_min": 0.74066971231473,
+      "z_max": 0.8619234452252492
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e",
+      "asset_source": "sceneforge_base",
+      "category": "paper_object",
+      "asset_usd": "assets/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19845195335365562,
+        0.14869390515001082,
+        0.00659895420068359
+      ],
+      "bbox_min_m": [
+        -0.09910663093709025,
+        -0.07411959395976447,
+        -0.0033486795732065883
+      ],
+      "bbox_max_m": [
+        0.09934532241656534,
+        0.07457431119024631,
+        0.0032502746274769884
+      ],
+      "translation_world": [
+        3.498694745232523,
+        8.546582154143088,
+        0.7439908586641115
+      ],
+      "rotation_wxyz": [
+        0.13837637114026108,
+        -7.431780746878583e-06,
+        0.0005110035076936781,
+        0.9903795831549825
+      ],
+      "yaw_degrees_local": 164.0334780428961,
+      "yaw_radians": 2.863949044328794,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.498694745232523,
+        8.546582154143088,
+        0.7472903357644534
+      ],
+      "z_min": 0.7406421790909049,
+      "z_max": 0.7472411332915885
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        3.420833778088503,
+        8.796490071894368,
+        0.7537768679226123
+      ],
+      "rotation_wxyz": [
+        0.9727661806956298,
+        -0.0004786213534322232,
+        0.00017916868107741233,
+        0.23178804221749952
+      ],
+      "yaw_degrees_local": 26.74602145189337,
+      "yaw_radians": 0.4678305843597553,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.420833778088503,
+        8.796490071894368,
+        0.7671813053298496
+      ],
+      "z_min": 0.7403985847501772,
+      "z_max": 0.7672074595646518
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.561532465677673,
+        8.260950649173695,
+        0.7760167347675542
+      ],
+      "rotation_wxyz": [
+        0.1544950582889226,
+        -1.5756988355384896e-05,
+        0.0005108145784512037,
+        0.9879934290188809
+      ],
+      "yaw_degrees_local": 162.16626229526815,
+      "yaw_radians": 2.831359997737339,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.561532465677673,
+        8.260950649173695,
+        0.8111298091107395
+      ],
+      "z_min": 0.7410506317806232,
+      "z_max": 0.811276780466994
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        1.8725063406773343,
+        8.486170844941677,
+        0.7490766439625792
+      ],
+      "rotation_wxyz": [
+        0.7082222289364631,
+        -0.00040387560428543505,
+        -0.00031315221938122567,
+        -0.7059893860820091
+      ],
+      "yaw_degrees_local": -89.87778648367426,
+      "yaw_radians": -1.5676385425735482,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8725063406773343,
+        8.486170844941677,
+        0.7573126507147199
+      ],
+      "z_min": 0.7409094925944162,
+      "z_max": 0.7573815060986976
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        1.8321618273299476,
+        8.770019781617664,
+        0.8181615030770678
+      ],
+      "rotation_wxyz": [
+        0.8369897909260977,
+        -0.00038978430364753404,
+        0.0003305268716312179,
+        0.5472182642288829
+      ],
+      "yaw_degrees_local": 66.29406492840451,
+      "yaw_radians": 1.158074255201273,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8321618273299476,
+        8.770019781617664,
+        0.8958683369105003
+      ],
+      "z_min": 0.740626751799222,
+      "z_max": 0.8960404194660869
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.974135998125094,
+        8.136375383750913,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        0.4533120046790273,
+        0.0,
+        0.0,
+        0.8913519094128208
+      ],
+      "yaw_degrees_local": 36.08724373454308,
+      "yaw_radians": 2.200637547932368,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.974135998125094,
+        8.136375383750913,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.103798008527405,
+        8.286681888179388,
+        0.7886623394998249
+      ],
+      "rotation_wxyz": [
+        0.03900672860386418,
+        -8.308325679839363e-05,
+        -0.0005042588508693573,
+        -0.9992388172723319
+      ],
+      "yaw_degrees_local": -175.58773371915686,
+      "yaw_radians": -3.0635594922127587,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.103798008527405,
+        8.286681888179388,
+        0.8360612649279253
+      ],
+      "z_min": 0.7410825363875252,
+      "z_max": 0.8358803872437262
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.644989183111815,
+        8.725914601143153,
+        0.8057461045291614
+      ],
+      "rotation_wxyz": [
+        0.9991325356680161,
+        -0.0005040381152836286,
+        8.441205234822886e-05,
+        0.04164030487141633
+      ],
+      "yaw_degrees_local": 4.714297667711946,
+      "yaw_radians": 0.08330460099678487,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.644989183111815,
+        8.725914601143153,
+        0.8711018288908029
+      ],
+      "z_min": 0.7404417910466589,
+      "z_max": 0.8711532397699419
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.055196561622575,
+        8.795626535347704,
+        0.7458596952689537
+      ],
+      "rotation_wxyz": [
+        0.7853688083825261,
+        -0.00035905729858535325,
+        0.00036367247981240085,
+        0.6190279263813507
+      ],
+      "yaw_degrees_local": 76.43166778794358,
+      "yaw_radians": 1.3350088880458084,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.055196561622575,
+        8.795626535347704,
+        0.7511606859000671
+      ],
+      "z_min": 0.740572484115686,
+      "z_max": 0.751174465377913
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.906210886035035,
+        8.327630174089826,
+        0.780296407926916
+      ],
+      "rotation_wxyz": [
+        0.040637707525313066,
+        4.269017457629597e-05,
+        0.0005092714062609032,
+        0.9991738164840346
+      ],
+      "yaw_degrees_local": 175.28326805045242,
+      "yaw_radians": 3.060294818833373,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.906210886035035,
+        8.327630174089826,
+        0.8195364827668072
+      ],
+      "z_min": 0.7409393344125055,
+      "z_max": 0.8194194840922879
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.519082697823321,
+        8.846829893985321,
+        0.7994602360258574
+      ],
+      "rotation_wxyz": [
+        0.9586897944792336,
+        -0.0005041871560397,
+        -8.351723130535296e-05,
+        -0.2844531890866206
+      ],
+      "yaw_degrees_local": -33.11104655862479,
+      "yaw_radians": -0.5768718856794449,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.519082697823321,
+        8.846829893985321,
+        0.8585865140583775
+      ],
+      "z_min": 0.7404618051851513,
+      "z_max": 0.8587143612501915
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.7037138250382453,
+        8.286387008420553,
+        0.8089334701544031
+      ],
+      "rotation_wxyz": [
+        0.9527365354470168,
+        -0.0004639021716216088,
+        0.00021441686362100364,
+        0.3037973549005973
+      ],
+      "yaw_degrees_local": 35.31294340576383,
+      "yaw_radians": 0.6173515609424703,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7037138250382453,
+        8.286387008420553,
+        0.876988813707989
+      ],
+      "z_min": 0.7408801350320935,
+      "z_max": 0.8769908221392653
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        2.370663221666174,
+        8.184066881672791,
+        0.7552519163238719
+      ],
+      "rotation_wxyz": [
+        0.006731584853104455,
+        -6.676279412198677e-05,
+        -0.0005066779505379505,
+        -0.999977212033129
+      ],
+      "yaw_degrees_local": -179.28732168960371,
+      "yaw_radians": -3.128129451488999,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.370663221666174,
+        8.184066881672791,
+        0.7693438416154661
+      ],
+      "z_min": 0.741152782218542,
+      "z_max": 0.7693366328017305
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.5786519584119105,
+        8.281858245201477,
+        0.8015750606757669
+      ],
+      "rotation_wxyz": [
+        0.008517713525878623,
+        5.9028768821006836e-05,
+        0.0005076370954646526,
+        0.9999635930255036
+      ],
+      "yaw_degrees_local": 178.96521957821028,
+      "yaw_radians": 3.124556962724517,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5786519584119105,
+        8.281858245201477,
+        0.8622019271310265
+      ],
+      "z_min": 0.7409005698736846,
+      "z_max": 0.8621543027842038
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.321400266120045,
+        8.87970063475884,
+        0.8407105402378517
+      ],
+      "rotation_wxyz": [
+        0.9087794763446747,
+        -0.00043442188573781387,
+        0.0002691791994792955,
+        0.41727640982313247
+      ],
+      "yaw_degrees_local": 49.26680621007975,
+      "yaw_radians": 0.8608924298206626,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.321400266120045,
+        8.87970063475884,
+        0.9409274203005018
+      ],
+      "z_min": 0.7404535347595732,
+      "z_max": 0.9408872948848732
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.0638883139264186,
+        8.365083488537485,
+        0.8412651085594426
+      ],
+      "rotation_wxyz": [
+        0.21913201682498093,
+        -0.0001729361563100393,
+        -0.00048090841340220103,
+        -0.9756950845537761
+      ],
+      "yaw_degrees_local": -154.7425924727739,
+      "yaw_radians": -2.6997432780655735,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0638883139264186,
+        8.365083488537485,
+        0.9414819886220926
+      ],
+      "z_min": 0.741008103081164,
+      "z_max": 0.9414418632064641
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.6903485667373734,
+        8.523591857942687,
+        0.7408946143267788
+      ],
+      "rotation_wxyz": [
+        0.07080542942692086,
+        2.7284971695858323e-05,
+        0.0005103286652343457,
+        0.9974900149795252
+      ],
+      "yaw_degrees_local": 171.82078907924233,
+      "yaw_radians": 2.9998631920422576,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6903485667373734,
+        8.523591857942687,
+        0.7908947082040944
+      ],
+      "z_min": 0.7408946143267788,
+      "z_max": 0.8408948020814099
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        4.8757649929877696,
+        8.775292107102313,
+        0.9844485016295983
+      ],
+      "rotation_wxyz": [
+        0.5004151696743797,
+        0.0,
+        0.0,
+        0.8657855727371311
+      ],
+      "yaw_degrees_local": 29.945057584250094,
+      "yaw_radians": 2.0934361763393605,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8757649929877696,
+        8.775292107102313,
+        1.0486374557173188
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0485779370717727
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.1709036485332627,
+        8.414878008427847,
+        0.8135895442385473
+      ],
+      "rotation_wxyz": [
+        0.0555174874378319,
+        -9.140663451166847e-05,
+        -0.0005028167095548465,
+        -0.9984575841811079
+      ],
+      "yaw_degrees_local": -173.69360154161868,
+      "yaw_radians": -3.0305006648846917,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1709036485332627,
+        8.414878008427847,
+        0.8864519888452911
+      ],
+      "z_min": 0.7408173254366709,
+      "z_max": 0.8865422146501583
+    }
+  ],
+  "variant_index": 108
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0109/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0109/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..245803fa85a6c699d99372205bc617394d778d7e
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0109/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2131917080417084163
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.134049571, -5.19990345e-06, 0.000511031092, 0.990974496)
+            double3 xformOp:translate = (3.28491871495, 8.43288469278, 0.740784578628)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.719966267, -0.000409072221, -0.000306332718, -0.694008871)
+            double3 xformOp:translate = (1.79494142719, 8.43523639711, 0.740667278857)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999820535, -0.000505825231, 7.29427983e-05, 0.0189377277)
+            double3 xformOp:translate = (2.06919844436, 8.26724765801, 0.744521148864)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953047727, -0.000502489502, -9.31886084e-05, -0.302819697)
+            double3 xformOp:translate = (3.66016993844, 8.21525163433, 0.809011134999)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.171889007, 0, 0, 0.985116323)
+            double3 xformOp:translate = (4.97702158759, 8.26891755722, 0.980874519698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.554000224, -0.000333682718, -0.000387086115, -0.83251636)
+            double3 xformOp:translate = (1.98045276705, 8.56836957429, 0.819522053976)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.890932974, -0.000423036658, 0.000286739956, 0.454134533)
+            double3 xformOp:translate = (3.60333721414, 8.40420748777, 0.792530688887)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.907946305, -0.00043388472, 0.000270044193, 0.419086204)
+            double3 xformOp:translate = (3.39419610825, 8.28103029868, 0.757702331547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.7298482, -0.000413424674, -0.00030043278, -0.683609057)
+            double3 xformOp:translate = (2.6764229111, 8.19618789787, 0.787114372107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.785596824, -0.000437586107, -0.000264004196, -0.61873853)
+            double3 xformOp:translate = (3.56985063293, 8.86667277646, 0.786321146475)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.117597194, 3.27555633e-06, 0.00051104705, 0.993061246)
+            double3 xformOp:translate = (2.41830148425, 8.31666186657, 0.800010718591)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.569589388, -0.000340917531, -0.000380729633, -0.821929235)
+            double3 xformOp:translate = (3.49183076254, 8.68112580921, 0.744826861321)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.687458698, -0.000394627916, -0.000324728539, -0.726223297)
+            double3 xformOp:translate = (3.66100393484, 8.60837674465, 0.816708504788)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.102030549, 1.12786061e-05, 0.000510933077, 0.994781135)
+            double3 xformOp:translate = (1.72141422018, 8.77682386296, 0.748628081219)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999657422, -0.000508600003, 5.00585022e-05, -0.0261682536)
+            double3 xformOp:translate = (2.94909146566, 8.21282992409, 0.745370587753)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.237750556, -5.90330632e-05, 0.000507636596, 0.97132611)
+            double3 xformOp:translate = (3.66133755999, 8.73357104605, 0.747849907732)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.19576623, -3.71514391e-05, 0.000509705392, 0.980650459)
+            double3 xformOp:translate = (2.54564469272, 8.2897736964, 0.857863033885)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.961087487, -0.000469882611, 0.000200973003, 0.2762437)
+            double3 xformOp:translate = (1.89420180902, 8.6868241225, 0.835576776338)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.763868658, -0.000346485347, 0.000375669696, 0.645371531)
+            double3 xformOp:translate = (3.35645647294, 8.5299210584, 0.787254020972)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.38283688, -0.000135618457, 0.000492734665, 0.923815816)
+            double3 xformOp:translate = (3.40550010405, 8.80526792872, 0.787714697405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99033312, 0, 0, 0.138709448)
+            double3 xformOp:translate = (4.90585376428, 8.15787207016, 0.920200028896)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.444173859, -0.000168489336, 0.000482484362, 0.895940468)
+            double3 xformOp:translate = (2.29054408702, 8.86086168599, 0.747894486538)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.337172253, -0.000230626345, -0.000456060638, -0.941442835)
+            double3 xformOp:translate = (2.96918849773, 8.86235620439, 0.740388998174)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.695640922, -0.000398280976, -0.000320237538, -0.718389481)
+            double3 xformOp:translate = (3.1285714856, 8.35640599299, 0.775488762683)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998158456, -0.00051002482, 3.24730607e-05, -0.0606583559)
+            double3 xformOp:translate = (2.01303775233, 8.71606408165, 0.796818467229)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.982662461, -0.000486578441, 0.000156272958, 0.185402876)
+            double3 xformOp:translate = (1.86397123319, 8.23216843965, 0.744721756451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.424917176, -0.000272829225, -0.000432138901, -0.905232087)
+            double3 xformOp:translate = (3.54874689424, 8.55459211071, 0.822538631138)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999929394, -0.000507832251, 5.73255702e-05, -0.0118720392)
+            double3 xformOp:translate = (2.81565477028, 8.89969085667, 0.822281504479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991599674, 0, 0, 0.129344832)
+            double3 xformOp:translate = (4.96538594433, 8.38670189608, 1.05015119201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991863136, 0, 0, 0.127308759)
+            double3 xformOp:translate = (4.83913378999, 8.79311355953, 0.946799261469)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0109/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0109/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17aead55b16352538fe10ed650550bf2149e9d9
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0109/placement.json
@@ -0,0 +1,1539 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2131917080417084163,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 3,
+    "small object": 6,
+    "timepiece": 1,
+    "clock": 4,
+    "office_supply": 4,
+    "electronics": 5
+  },
+  "failed_sampling_attempt_count": 314,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.284918714954931,
+        8.432884692781084,
+        0.7407845786280427
+      ],
+      "rotation_wxyz": [
+        0.1340495712626545,
+        -5.1999034519631865e-06,
+        0.0005110310922482142,
+        0.9909744957689287
+      ],
+      "yaw_degrees_local": 164.53395795276964,
+      "yaw_radians": 2.872684062234499,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.284918714954931,
+        8.432884692781084,
+        0.7907846725053582
+      ],
+      "z_min": 0.7407845786280427,
+      "z_max": 0.8407847663826737
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        1.794941427187814,
+        8.43523639711163,
+        0.7406672788571342
+      ],
+      "rotation_wxyz": [
+        0.7199662671598712,
+        -0.00040907222131292156,
+        -0.00030633271779296567,
+        -0.694008870960642
+      ],
+      "yaw_degrees_local": -87.95530397031743,
+      "yaw_radians": -1.534084876103532,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.794941427187814,
+        8.43523639711163,
+        0.74947934626164
+      ],
+      "z_min": 0.7409709750869553,
+      "z_max": 0.7585951098959669
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        2.069198444355335,
+        8.267247658014364,
+        0.7445211488638408
+      ],
+      "rotation_wxyz": [
+        0.9998205345406422,
+        -0.0005058252310951378,
+        7.294279832761423e-05,
+        0.018937727716079482
+      ],
+      "yaw_degrees_local": 2.1115233419590425,
+      "yaw_radians": 0.03787764144403579,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.069198444355335,
+        8.267247658014364,
+        0.7479604309430559
+      ],
+      "z_min": 0.7411066079424855,
+      "z_max": 0.7479851721009155
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.660169938444425,
+        8.215251634325096,
+        0.8090111349989791
+      ],
+      "rotation_wxyz": [
+        0.9530477271149039,
+        -0.0005024895018905145,
+        -9.318860837106283e-05,
+        -0.3028196966204471
+      ],
+      "yaw_degrees_local": -35.31279440295094,
+      "yaw_radians": -0.6152996230842891,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.660169938444425,
+        8.215251634325096,
+        0.877066478552565
+      ],
+      "z_min": 0.7409577998766697,
+      "z_max": 0.8770684869838413
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        4.977021587589887,
+        8.268917557217458,
+        0.9808745196984141
+      ],
+      "rotation_wxyz": [
+        -0.1718890072425967,
+        0.0,
+        0.0,
+        0.9851163226691326
+      ],
+      "yaw_degrees_local": 109.79533624628573,
+      "yaw_radians": -2.7960988595527323,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.977021587589887,
+        8.268917557217458,
+        1.0415013861536737
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.041453761806851
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        1.9804527670496412,
+        8.568369574290951,
+        0.8195220539761606
+      ],
+      "rotation_wxyz": [
+        0.5540002244020023,
+        -0.0003336827175879821,
+        -0.0003870861147385832,
+        -0.8325163603093426
+      ],
+      "yaw_degrees_local": -112.77493986189607,
+      "yaw_radians": -1.9672694594708342,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9804527670496412,
+        8.568369574290951,
+        0.8982327168007825
+      ],
+      "z_min": 0.7408124839135355,
+      "z_max": 0.8982338095627794
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_002_black_digital_alarm_clock_44ff3419/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20339494477758824,
+        0.1107086488517261,
+        0.10351778344946472
+      ],
+      "bbox_min_m": [
+        -0.10167640403053668,
+        -0.055279065976485874,
+        -0.05175734185909191
+      ],
+      "bbox_max_m": [
+        0.1017185407470516,
+        0.05542958287524019,
+        0.051760441590372776
+      ],
+      "translation_world": [
+        3.6033372141446716,
+        8.404207487766739,
+        0.792530688886569
+      ],
+      "rotation_wxyz": [
+        0.8909329741413319,
+        -0.0004230366575417606,
+        0.0002867399564347595,
+        0.45413453337955345
+      ],
+      "yaw_degrees_local": 53.959822010327514,
+      "yaw_radians": 0.9428010271737636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6033372141446716,
+        8.404207487766739,
+        0.8442895806113013
+      ],
+      "z_min": 0.7407733470274771,
+      "z_max": 0.8442911304769417
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        3.3941961082477756,
+        8.281030298676676,
+        0.7577023315472373
+      ],
+      "rotation_wxyz": [
+        0.907946304804639,
+        -0.0004338847197083898,
+        0.00027004419313120704,
+        0.41908620403418845
+      ],
+      "yaw_degrees_local": 49.49511482298195,
+      "yaw_radians": 0.8648771676437931,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3941961082477756,
+        8.281030298676676,
+        0.7746533467396428
+      ],
+      "z_min": 0.740924757436585,
+      "z_max": 0.7748267878213959
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        2.6764229111048436,
+        8.196187897867361,
+        0.7871143721066002
+      ],
+      "rotation_wxyz": [
+        0.7298482004434407,
+        -0.00041342467350582144,
+        -0.0003004327804633136,
+        -0.683609057232023
+      ],
+      "yaw_degrees_local": -86.31135509838116,
+      "yaw_radians": -1.5053925414801421,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6764229111048436,
+        8.196187897867361,
+        0.83331278660748
+      ],
+      "z_min": 0.7411017652689834,
+      "z_max": 0.8334985942707431
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.569850632927442,
+        8.866672776463432,
+        0.7863211464749178
+      ],
+      "rotation_wxyz": [
+        0.7855968238863414,
+        -0.0004375861068557057,
+        -0.00026400419566207565,
+        -0.6187385304956178
+      ],
+      "yaw_degrees_local": -76.50686959294778,
+      "yaw_radians": -1.334271912136078,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.569850632927442,
+        8.866672776463432,
+        0.8325195609757976
+      ],
+      "z_min": 0.740308539637301,
+      "z_max": 0.8327053686390608
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.418301484248555,
+        8.316661866573014,
+        0.8000107185913521
+      ],
+      "rotation_wxyz": [
+        0.11759719403575884,
+        3.275556334424748e-06,
+        0.0005110470496647179,
+        0.993061246235649
+      ],
+      "yaw_degrees_local": 166.43438777325434,
+      "yaw_radians": 2.9058528030471336,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.418301484248555,
+        8.316661866573014,
+        0.8591369966238722
+      ],
+      "z_min": 0.741012287750646,
+      "z_max": 0.8592648438156862
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.4918307625426546,
+        8.681125809208321,
+        0.7448268613209609
+      ],
+      "rotation_wxyz": [
+        0.5695893883241279,
+        -0.00034091753122013796,
+        -0.00038072963260964973,
+        -0.8219292351101339
+      ],
+      "yaw_degrees_local": -110.61550501886305,
+      "yaw_radians": -1.929580194268028,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4918307625426546,
+        8.681125809208321,
+        0.7489634626810879
+      ],
+      "z_min": 0.7405065907684935,
+      "z_max": 0.7487797934887476
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.661003934836639,
+        8.608376744646609,
+        0.8167085047880975
+      ],
+      "rotation_wxyz": [
+        0.6874586982734132,
+        -0.0003946279158302895,
+        -0.0003247285393798249,
+        -0.7262232969193486
+      ],
+      "yaw_degrees_local": -93.20014035587207,
+      "yaw_radians": -1.6256245862475152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.661003934836639,
+        8.608376744646609,
+        0.8928944433101836
+      ],
+      "z_min": 0.7405589783008952,
+      "z_max": 0.8929308553450676
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        1.721414220184187,
+        8.776823862964125,
+        0.7486280812194656
+      ],
+      "rotation_wxyz": [
+        0.10203054942566447,
+        1.1278606065765583e-05,
+        0.0005109330771104234,
+        0.9947811346241349
+      ],
+      "yaw_degrees_local": 168.22906689890738,
+      "yaw_radians": 2.9371758467467197,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.721414220184187,
+        8.776823862964125,
+        0.7567235065868997
+      ],
+      "z_min": 0.7406338464017141,
+      "z_max": 0.7568246971365824
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.949091465657939,
+        8.212829924086844,
+        0.7453705877531933
+      ],
+      "rotation_wxyz": [
+        0.9996574219815301,
+        -0.0005086000025536952,
+        5.0058502201862596e-05,
+        -0.026168253618180086
+      ],
+      "yaw_degrees_local": -3.0577141315222036,
+      "yaw_radians": -0.05234252650585518,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.949091465657939,
+        8.212829924086844,
+        0.7495071891133204
+      ],
+      "z_min": 0.7410503172007259,
+      "z_max": 0.74932351992098
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.6613375599907525,
+        8.733571046053816,
+        0.7478499077316126
+      ],
+      "rotation_wxyz": [
+        0.23775055565676317,
+        -5.903306323205012e-05,
+        0.0005076365960859731,
+        0.9713261100707035
+      ],
+      "yaw_degrees_local": 152.4336573671925,
+      "yaw_radians": 2.6614940726059992,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6613375599907525,
+        8.733571046053816,
+        0.7553898103747121
+      ],
+      "z_min": 0.7404319240387008,
+      "z_max": 0.7555117293248997
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.5456446927240113,
+        8.289773696404364,
+        0.8578630338849921
+      ],
+      "rotation_wxyz": [
+        0.19576622984294711,
+        -3.715143914736532e-05,
+        0.0005097053921723728,
+        0.9806504586616286
+      ],
+      "yaw_degrees_local": 157.3623104416169,
+      "yaw_radians": 2.747515260064558,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5456446927240113,
+        8.289773696404364,
+        0.9747218525609644
+      ],
+      "z_min": 0.7410234542847275,
+      "z_max": 0.9747410916366723
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.894201809022296,
+        8.686824122503525,
+        0.8355767763380024
+      ],
+      "rotation_wxyz": [
+        0.9610874866463337,
+        -0.00046988261123754395,
+        0.00020097300290561362,
+        0.27624370007661264
+      ],
+      "yaw_degrees_local": 32.01358244163123,
+      "yaw_radians": 0.5597668532540409,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.894201809022296,
+        8.686824122503525,
+        0.930473622402206
+      ],
+      "z_min": 0.7407032800355877,
+      "z_max": 0.930496972163995
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.3564564729396515,
+        8.529921058404973,
+        0.7872540209718262
+      ],
+      "rotation_wxyz": [
+        0.7638686575198992,
+        -0.00034648534735392145,
+        0.0003756696957559194,
+        0.6453715308866134
+      ],
+      "yaw_degrees_local": 80.32837681515173,
+      "yaw_radians": 1.4030193256356984,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3564564729396515,
+        8.529921058404973,
+        0.8336211891077111
+      ],
+      "z_min": 0.7406771216394673,
+      "z_max": 0.8334114579112372
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.405500104047836,
+        8.805267928719664,
+        0.787714697405155
+      ],
+      "rotation_wxyz": [
+        0.382836880402392,
+        -0.00013561845650399414,
+        0.0004927346654090687,
+        0.9238158159633059
+      ],
+      "yaw_degrees_local": 134.92225010259517,
+      "yaw_radians": 2.355862441806858,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.405500104047836,
+        8.805267928719664,
+        0.8350808240664099
+      ],
+      "z_min": 0.7403916424904052,
+      "z_max": 0.8351238958129152
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        4.905853764279381,
+        8.157872070160812,
+        0.9202000288963318
+      ],
+      "rotation_wxyz": [
+        0.9903331202630263,
+        0.0,
+        0.0,
+        0.138709447804028
+      ],
+      "yaw_degrees_local": -74.05365112100523,
+      "yaw_radians": 0.27831629161016574,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.905853764279381,
+        8.157872070160812,
+        1.0702000348567964
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2202000408172609
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.2905440870219844,
+        8.860861685989068,
+        0.747894486537596
+      ],
+      "rotation_wxyz": [
+        0.4441738594747429,
+        -0.00016848933577638588,
+        0.000482484362409752,
+        0.8959404675420657
+      ],
+      "yaw_degrees_local": 127.20029287670928,
+      "yaw_radians": 2.221088871439711,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2905440870219844,
+        8.860861685989068,
+        0.7554343891806955
+      ],
+      "z_min": 0.7404765028446842,
+      "z_max": 0.7555563081308831
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.9691884977268796,
+        8.862356204388346,
+        0.7403889981739762
+      ],
+      "rotation_wxyz": [
+        0.33717225284151947,
+        -0.00023062634481321528,
+        -0.0004560606377647698,
+        -0.9414428345544719
+      ],
+      "yaw_degrees_local": -140.64933350838112,
+      "yaw_radians": -2.453769531142919,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9691884977268796,
+        8.862356204388346,
+        0.7903890920512917
+      ],
+      "z_min": 0.7403889981739762,
+      "z_max": 0.8403891859286072
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.1285714855958764,
+        8.356405992991025,
+        0.7754887626829701
+      ],
+      "rotation_wxyz": [
+        0.6956409222682043,
+        -0.000398280975663786,
+        -0.00032023753787558274,
+        -0.7183894807735051
+      ],
+      "yaw_degrees_local": -91.90207101550295,
+      "yaw_radians": -1.602968990659622,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1285714855958764,
+        8.356405992991025,
+        0.8100884896658054
+      ],
+      "z_min": 0.7408819732325868,
+      "z_max": 0.8100814271982573
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.0130377523325236,
+        8.71606408165366,
+        0.7968184672285336
+      ],
+      "rotation_wxyz": [
+        0.9981584556970255,
+        -0.0005100248195635947,
+        3.247306067242944e-05,
+        -0.06065835590182938
+      ],
+      "yaw_degrees_local": -7.0139165599330795,
+      "yaw_radians": -0.12139124881823189,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0130377523325236,
+        8.71606408165366,
+        0.8530007470384262
+      ],
+      "z_min": 0.7406585470585694,
+      "z_max": 0.8530231066783547
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        1.8639712331904008,
+        8.232168439646202,
+        0.7447217564514317
+      ],
+      "rotation_wxyz": [
+        0.9826624611260654,
+        -0.0004865784406633494,
+        0.00015627295774360979,
+        0.18540287568926292
+      ],
+      "yaw_degrees_local": 21.31053606033919,
+      "yaw_radians": 0.37296349074544927,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8639712331904008,
+        8.232168439646202,
+        0.7482968170276515
+      ],
+      "z_min": 0.7411681890047281,
+      "z_max": 0.7483183101571678
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.5487468942445366,
+        8.554592110711713,
+        0.8225386311381236
+      ],
+      "rotation_wxyz": [
+        0.4249171763415244,
+        -0.0002728292250808523,
+        -0.0004321389014912847,
+        -0.9052320874063898
+      ],
+      "yaw_degrees_local": -129.7678612782113,
+      "yaw_radians": -2.2638519895037845,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5487468942445366,
+        8.554592110711713,
+        0.9044746401789425
+      ],
+      "z_min": 0.7406277545095965,
+      "z_max": 0.904499772591234
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.815654770284735,
+        8.899690856666362,
+        0.8222815044790783
+      ],
+      "rotation_wxyz": [
+        0.9999293942598537,
+        -0.0005078322510814235,
+        5.7325570227313235e-05,
+        -0.011872039222727756
+      ],
+      "yaw_degrees_local": -1.41917804014966,
+      "yaw_radians": -0.02374469151337073,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.815654770284735,
+        8.899690856666362,
+        0.9042175135198972
+      ],
+      "z_min": 0.7403706278505511,
+      "z_max": 0.9042426459321888
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        4.96538594433252,
+        8.386701896079776,
+        1.050151192011968
+      ],
+      "rotation_wxyz": [
+        0.9915996744939228,
+        0.0,
+        0.0,
+        0.1293448319166497
+      ],
+      "yaw_degrees_local": -75.13653137937692,
+      "yaw_radians": 0.2594164656967327,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.96538594433252,
+        8.386701896079776,
+        1.180318341526737
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.18053432792587
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        4.839133789988278,
+        8.793113559526516,
+        0.9467992614689975
+      ],
+      "rotation_wxyz": [
+        0.9918631356014777,
+        0.0,
+        0.0,
+        0.12730875945827502
+      ],
+      "yaw_degrees_local": -75.37179330025114,
+      "yaw_radians": 0.25531037057291134,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.839133789988278,
+        8.793113559526516,
+        0.9733737461250715
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9733489982084798
+    }
+  ],
+  "variant_index": 109
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0110/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0110/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..60fcf731788eec03716b66088458fc9c3767c90c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0110/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5996679412023140309
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953327755, -0.000502575587, -9.27232203e-05, -0.301936963)
+            double3 xformOp:translate = (3.64392799074, 8.55348437657, 0.740616772676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908317962, -0.000487120802, -0.000154574062, -0.418280072)
+            double3 xformOp:translate = (3.57360127922, 8.68746244946, 0.740489798276)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.778266346, -0.000434451249, -0.000269131805, -0.627934099)
+            double3 xformOp:translate = (3.26000631605, 8.26915567609, 0.754332084455)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.603478268, -0.000255519048, 0.000442594433, 0.797379282)
+            double3 xformOp:translate = (1.98848638561, 8.2242261421, 0.753670864944)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995168335, -0.000498445852, 0.000112834163, 0.0981820972)
+            double3 xformOp:translate = (3.52014616745, 8.83210978044, 0.754449009586)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.780670782, 0, 0, -0.624942502)
+            double3 xformOp:translate = (4.95574403653, 8.13409302372, 0.925497350056)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.337556476, -0.000111548083, 0.000498735242, 0.941305139)
+            double3 xformOp:translate = (3.29767800622, 8.85601312427, 0.786944069743)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.626788463, -0.000367216496, -0.000355431936, -0.779189298)
+            double3 xformOp:translate = (1.80278130018, 8.50905441313, 0.74597732907)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.214731722, -0.000170766644, -0.000481683059, -0.976672937)
+            double3 xformOp:translate = (2.66309738946, 8.32134954678, 0.752777053664)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987530787, -0.000510765589, -1.72722018e-05, -0.157425167)
+            double3 xformOp:translate = (3.49078795988, 8.39878125208, 0.801467606067)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698600107, -0.000308943178, 0.000407104322, 0.715512145)
+            double3 xformOp:translate = (1.78992979156, 8.3487427157, 0.871010565897)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.951340248, -0.000462918858, 0.00021653163, 0.308141968)
+            double3 xformOp:translate = (1.88052563364, 8.73213251351, 0.818026567817)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.337667635, -0.000230866312, -0.000455939209, -0.941265269)
+            double3 xformOp:translate = (2.45669182094, 8.30809501728, 0.780373175681)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.974376158, -0.00050837076, -5.23353314e-05, -0.224924082)
+            double3 xformOp:translate = (2.12167322681, 8.37893684194, 0.752787245825)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978818361, -0.000483404655, 0.000165830503, 0.204729956)
+            double3 xformOp:translate = (3.20292496618, 8.52661993123, 0.779571068306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.278817056, 0, 0, 0.960344235)
+            double3 xformOp:translate = (4.84119108507, 7.71107657942, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.35660954, -0.000240027847, -0.000451183387, -0.934253378)
+            double3 xformOp:translate = (2.34191250648, 8.23060634684, 0.841328754693)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.840238352, -0.000391748535, 0.000328196437, 0.542216977)
+            double3 xformOp:translate = (1.93992349976, 8.50069864419, 0.775852333189)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.954736505, -0.000503005889, -9.03597936e-05, -0.297452424)
+            double3 xformOp:translate = (2.86312722275, 8.86056368056, 0.813176511107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0166435497, -7.17819701e-05, -0.00050599127, -0.999861356)
+            double3 xformOp:translate = (1.90718660545, 8.86457423526, 0.779867289916)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998260726, -0.000502499342, 9.31355333e-05, 0.0589513567)
+            double3 xformOp:translate = (3.71988835528, 8.80074804997, 0.747014795378)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.930145086, -0.000494953218, -0.000127283651, -0.367191853)
+            double3 xformOp:translate = (3.03344307986, 8.86643840915, 0.786953640405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.555045282, -0.000334168567, -0.000386666762, -0.831819977)
+            double3 xformOp:translate = (1.7118546869, 8.63356832282, 0.801454870304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997888227, -0.000501930267, 9.61552056e-05, 0.0649524897)
+            double3 xformOp:translate = (2.13768798719, 8.85107228654, 0.7671050412)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.707899159, -0.000403732292, -0.000313336963, -0.706313329)
+            double3 xformOp:translate = (2.89675816318, 8.26874435631, 0.74403966052)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980598645, -0.000484858891, 0.000161529169, 0.196025603)
+            double3 xformOp:translate = (3.43804179681, 8.1813840226, 0.7469605136)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.144507234, -0.000135967516, -0.000492638459, -0.989503612)
+            double3 xformOp:translate = (3.07193394938, 8.30323351574, 0.788466888613)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.000521353949, -6.36149137e-05, -0.000507082793, -0.999999734)
+            double3 xformOp:translate = (3.64812046969, 8.23126455779, 0.788366124533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999659255, -0.000505289827, 7.65637443e-05, 0.0260981476)
+            double3 xformOp:translate = (2.10176527415, 8.89888156912, 0.74615166017)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953293816, -0.000464295847, 0.000213563064, 0.3020441)
+            double3 xformOp:translate = (2.52430856412, 8.22465882653, 0.788415217794)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0110/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0110/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c32e1c104919e69b348a466b423a605aec2940d
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0110/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5996679412023140309,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 2,
+    "electronics": 7,
+    "electronics accessory": 1,
+    "small object": 6,
+    "paper_goods": 1,
+    "office_supply": 2,
+    "clock": 2,
+    "drinkware/container": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 168,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.6439279907420317,
+        8.553484376572522,
+        0.7406167726757419
+      ],
+      "rotation_wxyz": [
+        0.953327755262521,
+        -0.0005025755870028481,
+        -9.272322033371818e-05,
+        -0.3019369633984998
+      ],
+      "yaw_degrees_local": -35.20667284419949,
+      "yaw_radians": -0.6134474530154946,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6439279907420317,
+        8.553484376572522,
+        0.7631137843895249
+      ],
+      "z_min": 0.7406167756706764,
+      "z_max": 0.7856107990982425
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.5736012792159304,
+        8.687462449457756,
+        0.7404897982763043
+      ],
+      "rotation_wxyz": [
+        0.9083179618254135,
+        -0.00048712080177639225,
+        -0.00015457406223890645,
+        -0.41828007249391
+      ],
+      "yaw_degrees_local": -49.51081493109422,
+      "yaw_radians": -0.8631017857242254,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5736012792159304,
+        8.687462449457756,
+        0.7629868099900874
+      ],
+      "z_min": 0.7404898012712389,
+      "z_max": 0.785483824698805
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        3.2600063160466957,
+        8.269155676088618,
+        0.7543320844547103
+      ],
+      "rotation_wxyz": [
+        0.7782663462056879,
+        -0.00043445124894608855,
+        -0.00026913180512435985,
+        -0.6279340993956549
+      ],
+      "yaw_degrees_local": -77.85445863087652,
+      "yaw_radians": -1.3577917872226932,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2600063160466957,
+        8.269155676088618,
+        0.7677365218619476
+      ],
+      "z_min": 0.7409538012822752,
+      "z_max": 0.7677626760967498
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        1.9884863856080162,
+        8.224226142100685,
+        0.7536708649436785
+      ],
+      "rotation_wxyz": [
+        0.6034782679521574,
+        -0.0002555190479199093,
+        0.0004425944333025616,
+        0.7973792817283679
+      ],
+      "yaw_degrees_local": 105.70244121293871,
+      "yaw_radians": 1.8458805038100807,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9884863856080162,
+        8.224226142100685,
+        0.7662416877089434
+      ],
+      "z_min": 0.741160472807827,
+      "z_max": 0.7663021183383567
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.5201461674460335,
+        8.832109780441199,
+        0.7544490095864909
+      ],
+      "rotation_wxyz": [
+        0.9951683348061743,
+        -0.0004984458524863867,
+        0.00011283416317512968,
+        0.09818209724430542
+      ],
+      "yaw_degrees_local": 11.21028534421876,
+      "yaw_radians": 0.19668092308854065,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5201461674460335,
+        8.832109780441199,
+        0.7685409348780851
+      ],
+      "z_min": 0.7403498754811609,
+      "z_max": 0.7685337260643494
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        4.9557440365313115,
+        8.134093023715472,
+        0.9254973500556251
+      ],
+      "rotation_wxyz": [
+        0.7806707815513323,
+        0.0,
+        0.0,
+        -0.6249425020208117
+      ],
+      "yaw_degrees_local": -167.35593475847304,
+      "yaw_radians": -1.350115757493279,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9557440365313115,
+        8.134093023715472,
+        0.9308470059552749
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308993406956315
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.2976780062184385,
+        8.856013124265328,
+        0.78694406974274
+      ],
+      "rotation_wxyz": [
+        0.3375564760843562,
+        -0.0001115480828612807,
+        0.0004987352418370748,
+        0.9413051387694086
+      ],
+      "yaw_degrees_local": 140.48514194915828,
+      "yaw_radians": 2.4529532033372856,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2976780062184385,
+        8.856013124265328,
+        0.833525673008658
+      ],
+      "z_min": 0.7403538358780399,
+      "z_max": 0.8335170424098759
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        1.8027813001800612,
+        8.509054413129478,
+        0.745977329069596
+      ],
+      "rotation_wxyz": [
+        0.6267884626876272,
+        -0.00036721649624959005,
+        -0.00035543193599124915,
+        -0.7791892978358116
+      ],
+      "yaw_degrees_local": -102.43154520810485,
+      "yaw_radians": -1.7867430792810197,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8027813001800612,
+        8.509054413129478,
+        0.751106931765674
+      ],
+      "z_min": 0.740895115972531,
+      "z_max": 0.7511543213646868
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.6630973894553227,
+        8.321349546783765,
+        0.7527770536642504
+      ],
+      "rotation_wxyz": [
+        0.21473172223984613,
+        -0.00017076664421134,
+        -0.0004816830591427419,
+        -0.9766729372129104
+      ],
+      "yaw_degrees_local": -155.25913008993587,
+      "yaw_radians": -2.708758558157513,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6630973894553227,
+        8.321349546783765,
+        0.7646483242108202
+      ],
+      "z_min": 0.740976492784801,
+      "z_max": 0.7647190338779405
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.4907879598848996,
+        8.3987812520808,
+        0.8014676060669719
+      ],
+      "rotation_wxyz": [
+        0.9875307871844096,
+        -0.0005107655893703586,
+        -1.727220181282511e-05,
+        -0.15742516693059025
+      ],
+      "yaw_degrees_local": -18.173663146692235,
+      "yaw_radians": -0.3161654711455083,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4907879598848996,
+        8.3987812520808,
+        0.8620944725222315
+      ],
+      "z_min": 0.7407931152648896,
+      "z_max": 0.8620468481754088
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.7899297915626864,
+        8.348742715700604,
+        0.8710105658971832
+      ],
+      "rotation_wxyz": [
+        0.6986001071527534,
+        -0.00030894317800895203,
+        0.00040710432201346324,
+        0.7155121446253343
+      ],
+      "yaw_degrees_local": 91.31167891875367,
+      "yaw_radians": 1.5947142090613202,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7899297915626864,
+        8.348742715700604,
+        1.0011777154119523
+      ],
+      "z_min": 0.7410594027815469,
+      "z_max": 1.0013937018110852
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.8805256336381686,
+        8.732132513510873,
+        0.8180265678172289
+      ],
+      "rotation_wxyz": [
+        0.9513402475503625,
+        -0.00046291885817170095,
+        0.00021653163045920394,
+        0.30814196762369
+      ],
+      "yaw_degrees_local": 35.83587933539505,
+      "yaw_radians": 0.6264785143180897,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8805256336381686,
+        8.732132513510873,
+        0.8954083229505684
+      ],
+      "z_min": 0.7406590504498456,
+      "z_max": 0.8954225607165245
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.4566918209400503,
+        8.308095017283904,
+        0.7803731756807347
+      ],
+      "rotation_wxyz": [
+        0.3376676351093683,
+        -0.0002308663122045333,
+        -0.00045593920880901607,
+        -0.9412652692093927
+      ],
+      "yaw_degrees_local": -140.5890303472451,
+      "yaw_radians": -2.4527170424018077,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4566918209400503,
+        8.308095017283904,
+        0.819613250520626
+      ],
+      "z_min": 0.7410161021663242,
+      "z_max": 0.8194962518461066
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.121673226810827,
+        8.378936841935907,
+        0.7527872458245266
+      ],
+      "rotation_wxyz": [
+        0.9743761575220128,
+        -0.0005083707597095358,
+        -5.233533139918031e-05,
+        -0.22492408157603258
+      ],
+      "yaw_degrees_local": -26.05554173018311,
+      "yaw_radians": -0.45373014155401054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.121673226810827,
+        8.378936841935907,
+        0.7646585163710964
+      ],
+      "z_min": 0.7409866849450772,
+      "z_max": 0.7647292260382167
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.2029249661774686,
+        8.526619931225502,
+        0.7795710683057467
+      ],
+      "rotation_wxyz": [
+        0.9788183610461993,
+        -0.000483404655128017,
+        0.0001658305027456517,
+        0.20472995603725477
+      ],
+      "yaw_degrees_local": 23.56867549620077,
+      "yaw_radians": 0.412375448343272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2029249661774686,
+        8.526619931225502,
+        0.8185184998407534
+      ],
+      "z_min": 0.7406999183376257,
+      "z_max": 0.8185947814076392
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.84119108507468,
+        7.711076579421407,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        -0.2788170562066132,
+        0.0,
+        0.0,
+        0.96034423472434
+      ],
+      "yaw_degrees_local": 122.37923123208049,
+      "yaw_radians": -2.5764684593254086,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.84119108507468,
+        7.711076579421407,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.3419125064821134,
+        8.230606346840085,
+        0.8413287546932925
+      ],
+      "rotation_wxyz": [
+        0.3566095397744299,
+        -0.00024002784720383863,
+        -0.0004511833871132705,
+        -0.9342533783519614
+      ],
+      "yaw_degrees_local": -138.27446142169177,
+      "yaw_radians": -2.4123201918663266,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3419125064821134,
+        8.230606346840085,
+        0.9414174557853054
+      ],
+      "z_min": 0.7411092681290972,
+      "z_max": 0.9412866703131232
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        1.939923499759224,
+        8.500698644192047,
+        0.7758523331889877
+      ],
+      "rotation_wxyz": [
+        0.8402383520444574,
+        -0.0003917485350655035,
+        0.0003281964373882577,
+        0.5422169773935508
+      ],
+      "yaw_degrees_local": 65.61067124770128,
+      "yaw_radians": 1.1461467802045702,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.939923499759224,
+        8.500698644192047,
+        0.810965407532173
+      ],
+      "z_min": 0.7408862302020568,
+      "z_max": 0.8111123788884276
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.8631272227474773,
+        8.860563680559919,
+        0.8131765111068602
+      ],
+      "rotation_wxyz": [
+        0.9547365052392203,
+        -0.0005030058885684094,
+        -9.035979363531906e-05,
+        -0.29745242373156816
+      ],
+      "yaw_degrees_local": -34.668022803575155,
+      "yaw_radians": -0.6040462390709521,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8631272227474773,
+        8.860563680559919,
+        0.8860389557136039
+      ],
+      "z_min": 0.7404042923049837,
+      "z_max": 0.8861291815184711
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.9071866054532842,
+        8.864574235257502,
+        0.7798672899160239
+      ],
+      "rotation_wxyz": [
+        0.016643549713546698,
+        -7.17819701129975e-05,
+        -0.0005059912696944575,
+        -0.9998613559254685
+      ],
+      "yaw_degrees_local": -178.15141179777928,
+      "yaw_radians": -3.1083040937777215,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9071866054532842,
+        8.864574235257502,
+        0.8192161492418998
+      ],
+      "z_min": 0.7405213259580876,
+      "z_max": 0.8192190446098393
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.719888355275983,
+        8.8007480499748,
+        0.747014795377773
+      ],
+      "rotation_wxyz": [
+        0.9982607256422819,
+        -0.0005024993419621503,
+        9.313553332600038e-05,
+        0.05895135673017963
+      ],
+      "yaw_degrees_local": 6.700537226820359,
+      "yaw_radians": 0.11797100473294816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.719888355275983,
+        8.8007480499748,
+        0.7536275996612608
+      ],
+      "z_min": 0.7403563721116168,
+      "z_max": 0.7535819806785923
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.0334430798634977,
+        8.866438409149056,
+        0.7869536404052683
+      ],
+      "rotation_wxyz": [
+        0.9301450862876163,
+        -0.0004949532184218672,
+        -0.00012728365100887082,
+        -0.3671918534978504
+      ],
+      "yaw_degrees_local": -43.1437873550463,
+      "yaw_radians": -0.7519762027081641,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0334430798634977,
+        8.866438409149056,
+        0.8333208085411532
+      ],
+      "z_min": 0.7403767410729094,
+      "z_max": 0.8331110773446793
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.7118546869027742,
+        8.633568322824663,
+        0.8014548703038242
+      ],
+      "rotation_wxyz": [
+        0.5550452823737719,
+        -0.00033416856686889804,
+        -0.0003866667624157777,
+        -0.831819976518239
+      ],
+      "yaw_degrees_local": -112.63103288363791,
+      "yaw_radians": -1.9647578077596002,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7118546869027742,
+        8.633568322824663,
+        0.8620817367590838
+      ],
+      "z_min": 0.7407803795017419,
+      "z_max": 0.8620341124122611
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.1376879871869967,
+        8.851072286540196,
+        0.7671050411998952
+      ],
+      "rotation_wxyz": [
+        0.9978882266565398,
+        -0.000501930266745486,
+        9.615520560592611e-05,
+        0.06495248971710457
+      ],
+      "yaw_degrees_local": 7.389541033201368,
+      "yaw_radians": 0.1299963841901739,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1376879871869967,
+        8.851072286540196,
+        0.7936795258559692
+      ],
+      "z_min": 0.7405058086272295,
+      "z_max": 0.7936547779393774
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.896758163182195,
+        8.268744356312713,
+        0.744039660520219
+      ],
+      "rotation_wxyz": [
+        0.7078991591986801,
+        -0.0004037322924489514,
+        -0.00031333696282792264,
+        -0.7063133293560202
+      ],
+      "yaw_degrees_local": -89.93021301217456,
+      "yaw_radians": -1.5685535585739057,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.896758163182195,
+        8.268744356312713,
+        0.7471516637640946
+      ],
+      "z_min": 0.7410002370033784,
+      "z_max": 0.7472242434911295
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.4380417968139505,
+        8.18138402259982,
+        0.7469605135995987
+      ],
+      "rotation_wxyz": [
+        0.9805986445193304,
+        -0.00048485889075587966,
+        0.00016152916855877926,
+        0.19602560339668884
+      ],
+      "yaw_degrees_local": 22.550577995379484,
+      "yaw_radians": 0.39460629942109315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4380417968139505,
+        8.18138402259982,
+        0.752777726366171
+      ],
+      "z_min": 0.741020260937289,
+      "z_max": 0.7526546864704337
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.071933949376345,
+        8.303233515739347,
+        0.7884668886134506
+      ],
+      "rotation_wxyz": [
+        0.14450723417293293,
+        -0.00013596751601494472,
+        -0.0004926384585363169,
+        -0.9895036119650464
+      ],
+      "yaw_degrees_local": -163.44121771506693,
+      "yaw_radians": -2.851562884964549,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.071933949376345,
+        8.303233515739347,
+        0.8359903658136943
+      ],
+      "z_min": 0.740943085256593,
+      "z_max": 0.8359900396570806
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.6481204696927976,
+        8.23126455778526,
+        0.7883661245326282
+      ],
+      "rotation_wxyz": [
+        0.0005213539486353058,
+        -6.361491368589005e-05,
+        -0.0005070827930398047,
+        -0.9999997335050866
+      ],
+      "yaw_degrees_local": -179.9989676469772,
+      "yaw_radians": -3.1405500102890356,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6481204696927976,
+        8.23126455778526,
+        0.8358186502716086
+      ],
+      "z_min": 0.7409430749591996,
+      "z_max": 0.8358481264371606
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.1017652741474713,
+        8.898881569116579,
+        0.7461516601695295
+      ],
+      "rotation_wxyz": [
+        0.999659254702093,
+        -0.0005052898270225003,
+        7.656374434341806e-05,
+        0.026098147609357733
+      ],
+      "yaw_degrees_local": 2.93225699045297,
+      "yaw_radians": 0.05220213883480907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1017652741474713,
+        8.898881569116579,
+        0.7519827111943157
+      ],
+      "z_min": 0.7404618594402048,
+      "z_max": 0.7521239614897772
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.5243085641225385,
+        8.224658826530453,
+        0.788415217794483
+      ],
+      "rotation_wxyz": [
+        0.9532938164330989,
+        -0.0004642958473501867,
+        0.00021356306416064736,
+        0.3020441000426946
+      ],
+      "yaw_degrees_local": 35.10213023516016,
+      "yaw_radians": 0.6136721771839334,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5243085641225385,
+        8.224658826530453,
+        0.8357813444557379
+      ],
+      "z_min": 0.7410921628797332,
+      "z_max": 0.8358244162022432
+    }
+  ],
+  "variant_index": 110
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0111/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0111/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..6f385eba7338515f1d898affeda5dd9131e3b47a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0111/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7326783019147697366
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.099716069, 1.24671822e-05, 0.000510905457, 0.995015801)
+            double3 xformOp:translate = (3.63928346507, 8.41526093313, 0.740757554801)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.806583931, -0.000371583848, 0.000350863591, 0.591119363)
+            double3 xformOp:translate = (2.34958605881, 8.87419860589, 0.740455491553)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.752672566, -0.000423401938, -0.000286200306, -0.658394827)
+            double3 xformOp:translate = (3.09357692597, 8.23133392048, 0.788537069307)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990885477, -0.000511027535, -5.53843628e-06, -0.134706016)
+            double3 xformOp:translate = (1.86508519533, 8.63339613268, 0.754139398132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.644023804, -0.000278131247, 0.000428745642, 0.76500528)
+            double3 xformOp:translate = (3.39316527244, 8.8619499216, 0.746275947672)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0253601681, 5.04696146e-05, 0.000508559371, 0.999678249)
+            double3 xformOp:translate = (3.49395884949, 8.5484785493, 0.77471051461)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.482707472, -0.000189307427, 0.000474702554, 0.8757815)
+            double3 xformOp:translate = (3.36717782786, 8.56322023844, 0.78950755884)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.101403525, 1.16006414e-05, 0.000510925867, 0.994845246)
+            double3 xformOp:translate = (3.40610862798, 8.45207523503, 0.777405329937)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.487455917, -0.000302511039, -0.000411906406, -0.873147449)
+            double3 xformOp:translate = (2.77044847054, 8.26036899831, 0.751472078533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991761107, -0.000511053096, -2.13301761e-06, -0.128100136)
+            double3 xformOp:translate = (3.65686844498, 8.7342602261, 0.759049081564)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.242064734, 0, 0, 0.970260102)
+            double3 xformOp:translate = (4.89342444849, 8.08673527005, 0.979198459737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.957332547, -0.000467171056, 0.000207198024, 0.288988119)
+            double3 xformOp:translate = (2.45989651103, 8.20968633387, 0.788438564458)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.57510853, -0.000239821092, 0.000451293319, 0.818076963)
+            double3 xformOp:translate = (1.98581412599, 8.3097174496, 0.775680904344)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.705773477, 0, 0, 0.708437576)
+            double3 xformOp:translate = (5.00260045405, 8.13554962299, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.663995762, -0.000384092338, -0.000337124446, -0.747736161)
+            double3 xformOp:translate = (3.45392348995, 8.83661451574, 0.748366463567)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.581757729, -0.000243491704, 0.000449323498, 0.813361963)
+            double3 xformOp:translate = (3.67236133627, 8.30307948086, 0.76589385854)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998456007, -0.000509851832, 3.50845495e-05, -0.0555458393)
+            double3 xformOp:translate = (2.25909008774, 8.35511189726, 0.822904351352)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.61161414, -0.000260039124, 0.000439953941, 0.791156042)
+            double3 xformOp:translate = (1.97172841911, 8.811151287, 0.77722288103)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.080003666, 2.2576334e-05, 0.00051055864, 0.996794438)
+            double3 xformOp:translate = (2.17234148328, 8.2766629884, 0.746337138902)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.868869576, 0, 0, 0.495041069)
+            double3 xformOp:translate = (4.83942514624, 8.70014016349, 0.925453176565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0319558505, -7.95235028e-05, -0.000504832476, -0.999489151)
+            double3 xformOp:translate = (1.86462509882, 8.84475732764, 0.74958071124)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999952569, -0.000506475746, 6.82798296e-05, 0.00972615953)
+            double3 xformOp:translate = (1.86006800264, 8.18393855361, 0.744257023099)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.825705923, -0.000454464727, -0.000233755487, -0.564100582)
+            double3 xformOp:translate = (1.86966540297, 8.43237321064, 0.740964408575)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987743776, -0.000491012673, 0.000141726396, 0.156083218)
+            double3 xformOp:translate = (2.58229389213, 8.29219081957, 0.822206029138)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.576953487, -0.000344325576, -0.000377650253, -0.816776844)
+            double3 xformOp:translate = (3.53136644234, 8.77568779656, 0.753851418381)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00765025226, -6.72282465e-05, -0.000506616402, -0.999970606)
+            double3 xformOp:translate = (2.20843577982, 8.86931815035, 0.840735383215)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.617118861, -0.00036279945, -0.000359939405, -0.786869779)
+            double3 xformOp:translate = (3.64425483603, 8.53854995971, 0.74367130633)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.233686547, -0.000180102661, -0.000478270685, -0.972311852)
+            double3 xformOp:translate = (3.20230169951, 8.28526089174, 0.793622722515)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.90828504, -0.000434103038, 0.0002696931, 0.418351556)
+            double3 xformOp:translate = (1.74711435263, 8.2708251609, 0.871095017153)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994129334, -0.000510993191, 8.11017471e-06, -0.108197067)
+            double3 xformOp:translate = (3.33142162239, 8.26635693198, 0.752754969332)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0111/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0111/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dea37a1de673b8fe66d090dec3f851c6723eb3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0111/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7326783019147697366,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 3,
+    "office_supply": 3,
+    "small object": 6,
+    "small electronic device": 2,
+    "electronics": 5,
+    "writing_instrument": 2,
+    "clock": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 172,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.6392834650740635,
+        8.415260933134281,
+        0.7407575548012867
+      ],
+      "rotation_wxyz": [
+        0.09971606903784183,
+        1.2467182248295585e-05,
+        0.0005109054566229455,
+        0.9950158010784674
+      ],
+      "yaw_degrees_local": 168.4956466604956,
+      "yaw_radians": 2.941828538904615,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6392834650740635,
+        8.415260933134281,
+        0.7907576486786022
+      ],
+      "z_min": 0.7407575548012867,
+      "z_max": 0.8407577425559177
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.3495860588094093,
+        8.874198605892524,
+        0.7404554915525369
+      ],
+      "rotation_wxyz": [
+        0.8065839309534024,
+        -0.00037158384842654076,
+        0.0003508635914836907,
+        0.5911193628599396
+      ],
+      "yaw_degrees_local": 72.41426431154315,
+      "yaw_radians": 1.2648919349663685,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3495860588094093,
+        8.874198605892524,
+        0.7904555854298524
+      ],
+      "z_min": 0.7404554915525369,
+      "z_max": 0.8404556793071679
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.0935769259729273,
+        8.231333920479885,
+        0.7885370693071192
+      ],
+      "rotation_wxyz": [
+        0.7526725655563201,
+        -0.00042340193803595865,
+        -0.0002862003059182622,
+        -0.6583948267408023
+      ],
+      "yaw_degrees_local": -82.41385901561085,
+      "yaw_radians": -1.437368370241034,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0935769259729273,
+        8.231333920479885,
+        0.836060546507363
+      ],
+      "z_min": 0.7410132659502616,
+      "z_max": 0.8360602203507492
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        1.8650851953320142,
+        8.633396132680868,
+        0.7541393981322191
+      ],
+      "rotation_wxyz": [
+        0.9908854768170291,
+        -0.0005110275354263498,
+        -5.53843627600393e-06,
+        -0.13470601565361803
+      ],
+      "yaw_degrees_local": -15.54195354901563,
+      "yaw_radians": -0.2702334963385182,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8650851953320142,
+        8.633396132680868,
+        0.7675438355394564
+      ],
+      "z_min": 0.7407611149597839,
+      "z_max": 0.7675699897742585
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.393165272440588,
+        8.861949921595958,
+        0.7462759476719302
+      ],
+      "rotation_wxyz": [
+        0.6440238044922013,
+        -0.00027813124707860035,
+        0.0004287456421222438,
+        0.765005279764509
+      ],
+      "yaw_degrees_local": 99.75623081303303,
+      "yaw_radians": 1.7420995127512642,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.393165272440588,
+        8.861949921595958,
+        0.7520931604385025
+      ],
+      "z_min": 0.7403356950096205,
+      "z_max": 0.7519701205427651
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.4939588494901734,
+        8.548478549304667,
+        0.7747105146102331
+      ],
+      "rotation_wxyz": [
+        0.025360168111471952,
+        5.0469614632959146e-05,
+        0.0005085593714003442,
+        0.9996782485847844
+      ],
+      "yaw_degrees_local": 177.0349164100732,
+      "yaw_radians": 3.0908668341871035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4939588494901734,
+        8.548478549304667,
+        0.8087090707809119
+      ],
+      "z_min": 0.7406408717966073,
+      "z_max": 0.808637984137965
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.367177827864676,
+        8.563220238442707,
+        0.789507558839738
+      ],
+      "rotation_wxyz": [
+        0.4827074718246661,
+        -0.0001893074270140819,
+        0.00047470255351917025,
+        0.8757814998416119
+      ],
+      "yaw_degrees_local": 122.2165191783468,
+      "yaw_radians": 2.1341056063088573,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.367177827864676,
+        8.563220238442707,
+        0.8383750233456871
+      ],
+      "z_min": 0.7406419913274198,
+      "z_max": 0.8383769203393182
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.4061086279819213,
+        8.452075235030918,
+        0.7774053299365027
+      ],
+      "rotation_wxyz": [
+        0.10140352541690048,
+        1.1600641447673708e-05,
+        0.0005109258667931339,
+        0.994845246183148
+      ],
+      "yaw_degrees_local": 168.30129317920353,
+      "yaw_radians": 2.9384364324941843,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4061086279819213,
+        8.452075235030918,
+        0.8140155430056814
+      ],
+      "z_min": 0.740749779212218,
+      "z_max": 0.8139702053505753
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17135408564547958,
+        0.12615247863082146,
+        0.020837576756573974
+      ],
+      "bbox_min_m": [
+        -0.08557922064932827,
+        -0.06318043175369172,
+        -0.010447339522802175
+      ],
+      "bbox_max_m": [
+        0.08577486499615133,
+        0.0629720468771298,
+        0.010390237233771776
+      ],
+      "translation_world": [
+        2.770448470539946,
+        8.260368998308335,
+        0.7514720785329412
+      ],
+      "rotation_wxyz": [
+        0.4874559166372372,
+        -0.00030251103889838646,
+        -0.00041190640634121184,
+        -0.8731474492636022
+      ],
+      "yaw_degrees_local": -121.71169592025066,
+      "yaw_radians": -2.123245339181217,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.770448470539946,
+        8.260368998308335,
+        0.7618908669112282
+      ],
+      "z_min": 0.741024739010139,
+      "z_max": 0.7618623157667129
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        3.656868444976865,
+        8.73426022609687,
+        0.7590490815638304
+      ],
+      "rotation_wxyz": [
+        0.9917611073184779,
+        -0.0005110530955548628,
+        -2.133017605385277e-06,
+        -0.1281001359507891
+      ],
+      "yaw_degrees_local": -14.778352755172136,
+      "yaw_radians": -0.2569061550081814,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.656868444976865,
+        8.73426022609687,
+        0.7779667264388597
+      ],
+      "z_min": 0.7404317971420704,
+      "z_max": 0.7773950956803155
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        4.893424448489048,
+        8.086735270051378,
+        0.9791984597370379
+      ],
+      "rotation_wxyz": [
+        -0.2420647337073502,
+        0.0,
+        0.0,
+        0.9702601015682288
+      ],
+      "yaw_degrees_local": 118.01686943625458,
+      "yaw_radians": -2.6526060358257837,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.893424448489048,
+        8.086735270051378,
+        1.0383247377695581
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0384525849613722
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.459896511028503,
+        8.209686333867674,
+        0.7884385644576124
+      ],
+      "rotation_wxyz": [
+        0.957332547257786,
+        -0.00046717105570701225,
+        0.0002071980235183441,
+        0.2889881187542196
+      ],
+      "yaw_degrees_local": 33.53606583573361,
+      "yaw_radians": 0.5863391988562131,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.459896511028503,
+        8.209686333867674,
+        0.8358046911188673
+      ],
+      "z_min": 0.7411155095428626,
+      "z_max": 0.8358477628653727
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        1.9858141259914368,
+        8.309717449600223,
+        0.7756809043438178
+      ],
+      "rotation_wxyz": [
+        0.575108530117021,
+        -0.00023982109182766657,
+        0.0004512933194219681,
+        0.8180769630094858
+      ],
+      "yaw_degrees_local": 109.72681310134607,
+      "yaw_radians": 1.9161190672555717,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9858141259914368,
+        8.309717449600223,
+        0.8102806313266531
+      ],
+      "z_min": 0.7410741148934344,
+      "z_max": 0.810273568859105
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        5.0026004540488405,
+        8.135549622990506,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.7057734771978688,
+        0.0,
+        0.0,
+        0.7084375758555086
+      ],
+      "yaw_degrees_local": 0.2158679617149062,
+      "yaw_radians": 1.5745639334763908,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        5.0026004540488405,
+        8.135549622990506,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.4539234899548386,
+        8.836614515741015,
+        0.7483664635673943
+      ],
+      "rotation_wxyz": [
+        0.6639957624612836,
+        -0.0003840923383259336,
+        -0.0003371244456867955,
+        -0.7477361608573191
+      ],
+      "yaw_degrees_local": -96.84803897274733,
+      "yaw_radians": -1.6892924610319846,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4539234899548386,
+        8.836614515741015,
+        0.7561958027522123
+      ],
+      "z_min": 0.7403536939418316,
+      "z_max": 0.7560123723114676
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.672361336273187,
+        8.303079480858797,
+        0.765893858539524
+      ],
+      "rotation_wxyz": [
+        0.5817577290399389,
+        -0.00024349170448567312,
+        0.0004493234982581862,
+        0.8133619634101887
+      ],
+      "yaw_degrees_local": 108.79274460552904,
+      "yaw_radians": 1.8998164914252724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.672361336273187,
+        8.303079480858797,
+        0.7908381001096493
+      ],
+      "z_min": 0.740867154909494,
+      "z_max": 0.7907556380497446
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.259090087736245,
+        8.355111897264013,
+        0.8229043513516894
+      ],
+      "rotation_wxyz": [
+        0.9984560073216494,
+        -0.0005098518320340113,
+        3.5084549475158887e-05,
+        -0.055545839299578376
+      ],
+      "yaw_degrees_local": -6.427073202388698,
+      "yaw_radians": -0.11114890538503373,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.259090087736245,
+        8.355111897264013,
+        0.9048403603925083
+      ],
+      "z_min": 0.7409934747231621,
+      "z_max": 0.9048654928047999
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        1.9717284191092803,
+        8.811151287004586,
+        0.7772228810300329
+      ],
+      "rotation_wxyz": [
+        0.6116141400554495,
+        -0.0002600391241131053,
+        0.00043995394096518975,
+        0.7911560418175526
+      ],
+      "yaw_degrees_local": 104.5286629494907,
+      "yaw_radians": 1.8253942008042345,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9717284191092803,
+        8.811151287004586,
+        0.8138330940992116
+      ],
+      "z_min": 0.7405673303057482,
+      "z_max": 0.8137877564441055
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.172341483282704,
+        8.276662988404617,
+        0.7463371389023434
+      ],
+      "rotation_wxyz": [
+        0.08000366599572957,
+        2.2576334002427938e-05,
+        0.0005105586404942368,
+        0.9967944383108424
+      ],
+      "yaw_degrees_local": 170.7637354650888,
+      "yaw_radians": 2.9814141357279635,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.172341483282704,
+        8.276662988404617,
+        0.7515730542204769
+      ],
+      "z_min": 0.7410839912332623,
+      "z_max": 0.7515558218695293
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        4.839425146244576,
+        8.700140163487918,
+        0.9254531765654129
+      ],
+      "rotation_wxyz": [
+        0.8688695761578229,
+        0.0,
+        0.0,
+        0.49504106862696284
+      ],
+      "yaw_degrees_local": -30.655083029406427,
+      "yaw_radians": 1.035764195459517,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.839425146244576,
+        8.700140163487918,
+        0.9306890918835464
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9306718595325988
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        1.8646250988169446,
+        8.844757327640181,
+        0.7495807112400241
+      ],
+      "rotation_wxyz": [
+        0.03195585054807118,
+        -7.952350279172453e-05,
+        -0.0005048324759205248,
+        -0.9994891507344806
+      ],
+      "yaw_degrees_local": -176.39621568395015,
+      "yaw_radians": -3.0776701576257013,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8646250988169446,
+        8.844757327640181,
+        0.7584139573435064
+      ],
+      "z_min": 0.7405468016602248,
+      "z_max": 0.7582132938671893
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        1.8600680026354923,
+        8.183938553609647,
+        0.7442570230990145
+      ],
+      "rotation_wxyz": [
+        0.9999525691956272,
+        -0.000506475745827881,
+        6.827982958681354e-05,
+        0.009726159532316574
+      ],
+      "yaw_degrees_local": 1.0558430833594343,
+      "yaw_radians": 0.019452554260400594,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8600680026354923,
+        8.183938553609647,
+        0.7473690263428902
+      ],
+      "z_min": 0.7412175995821739,
+      "z_max": 0.747441606069925
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.8696654029667825,
+        8.43237321064027,
+        0.7409644085750539
+      ],
+      "rotation_wxyz": [
+        0.8257059233245504,
+        -0.00045446472745157225,
+        -0.00023375548708571685,
+        -0.564100582349403
+      ],
+      "yaw_degrees_local": -68.7384355019284,
+      "yaw_radians": -1.1986871133067476,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8696654029667825,
+        8.43237321064027,
+        0.7634614202888369
+      ],
+      "z_min": 0.7409644115699884,
+      "z_max": 0.7859584349975545
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.5822938921329706,
+        8.292190819573126,
+        0.8222060291378185
+      ],
+      "rotation_wxyz": [
+        0.9877437764510597,
+        -0.000491012673005831,
+        0.00014172639552314012,
+        0.1560832178755395
+      ],
+      "yaw_degrees_local": 17.90054141116022,
+      "yaw_radians": 0.3134478750926975,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5822938921329706,
+        8.292190819573126,
+        0.9034498824311834
+      ],
+      "z_min": 0.7410163406439318,
+      "z_max": 0.9035040472306618
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        3.531366442343051,
+        8.775687796560733,
+        0.753851418380886
+      ],
+      "rotation_wxyz": [
+        0.576953487001047,
+        -0.0003443255763753454,
+        -0.000377650253136548,
+        -0.8167768438548663
+      ],
+      "yaw_degrees_local": -109.58559748560587,
+      "yaw_radians": -1.9116049083714723,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.531366442343051,
+        8.775687796560733,
+        0.7673961677534832
+      ],
+      "z_min": 0.7404056785100162,
+      "z_max": 0.7674951772552105
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.2084357798182355,
+        8.869318150348912,
+        0.8407353832146031
+      ],
+      "rotation_wxyz": [
+        0.007650252255441009,
+        -6.722824651162073e-05,
+        -0.0005066164023314734,
+        -0.9999706057982966
+      ],
+      "yaw_degrees_local": -179.18204742042766,
+      "yaw_radians": -3.126292069797349,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2084357798182355,
+        8.869318150348912,
+        0.9409522632772531
+      ],
+      "z_min": 0.7404783777363245,
+      "z_max": 0.9409121378616245
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.6442548360271534,
+        8.538549959710812,
+        0.7436713063296592
+      ],
+      "rotation_wxyz": [
+        0.6171188613158042,
+        -0.0003627994497899836,
+        -0.0003599394052787188,
+        -0.7868697794606611
+      ],
+      "yaw_degrees_local": -103.84661393891777,
+      "yaw_radians": -1.8114407003973232,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6442548360271534,
+        8.538549959710812,
+        0.7467833095735348
+      ],
+      "z_min": 0.7406318828128186,
+      "z_max": 0.7468558893005697
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.2023016995146385,
+        8.285260891739323,
+        0.7936227225148055
+      ],
+      "rotation_wxyz": [
+        0.23368654651149465,
+        -0.00018010266090391164,
+        -0.00047827068462915766,
+        -0.9723118516194869
+      ],
+      "yaw_degrees_local": -153.03028315474336,
+      "yaw_radians": -2.6698578488558193,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2023016995146385,
+        8.285260891739323,
+        0.8461717513740236
+      ],
+      "z_min": 0.7409447986224629,
+      "z_max": 0.8460428563408992
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.7471143526349815,
+        8.270825160897832,
+        0.8710950171525298
+      ],
+      "rotation_wxyz": [
+        0.9082850404692003,
+        -0.00043410303834600457,
+        0.0002696931002808189,
+        0.4183515556084943
+      ],
+      "yaw_degrees_local": 49.40241242131461,
+      "yaw_radians": 0.8632592051764854,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7471143526349815,
+        8.270825160897832,
+        1.001262166667299
+      ],
+      "z_min": 0.7411438540368935,
+      "z_max": 1.0014781530664318
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.331421622387749,
+        8.26635693197985,
+        0.7527549693320997
+      ],
+      "rotation_wxyz": [
+        0.9941293343984045,
+        -0.0005109931910569122,
+        8.110174707524687e-06,
+        -0.10819706700631711
+      ],
+      "yaw_degrees_local": -12.481501636093668,
+      "yaw_radians": -0.21681856095823987,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.331421622387749,
+        8.26635693197985,
+        0.7644422942847664
+      ],
+      "z_min": 0.7409475906387006,
+      "z_max": 0.764322240544034
+    }
+  ],
+  "variant_index": 111
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0112/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0112/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..77509f0d9d044d17e1d0990106362fb8b65bf102
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0112/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8097292009850782732
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.426631503, -0.000159055802, 0.000485675888, 0.904425397)
+            double3 xformOp:translate = (3.59280919832, 8.29504269855, 0.74088536935)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.607674422, -0.000358473516, -0.00036424793, -0.794186084)
+            double3 xformOp:translate = (2.09458497013, 8.33373700618, 0.741035954021)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.197403426, -0.000162210372, -0.000484631418, -0.980322205)
+            double3 xformOp:translate = (1.92562478017, 8.63378506734, 0.77571916432)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.649451814, -0.000281175461, 0.000426755406, 0.760402578)
+            double3 xformOp:translate = (3.6938020752, 8.74960308198, 0.747392553912)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.593821356, 0, 0, 0.804596916)
+            double3 xformOp:translate = (4.98716422742, 8.39805334752, 0.967723832253)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.931493656, -0.000449331079, 0.000243477715, 0.36375721)
+            double3 xformOp:translate = (3.35009033361, 8.29666754591, 0.751934529842)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.121650062, -0.000124570722, -0.000495642968, -0.99257292)
+            double3 xformOp:translate = (1.7817975025, 8.41901400192, 0.766015810574)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.600340579, -0.000253778051, 0.000443594992, 0.799744289)
+            double3 xformOp:translate = (3.42380017297, 8.47339776921, 0.744235322162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.5301336, -0.000322555019, -0.000396406453, -0.847913973)
+            double3 xformOp:translate = (3.09418306079, 8.28899354918, 0.748650876819)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858354766, -0.000402782998, 0.000314556311, 0.513056366)
+            double3 xformOp:translate = (2.4346593982, 8.28363353221, 0.746330896681)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93848606, -0.000497797259, -0.000115662029, -0.345316744)
+            double3 xformOp:translate = (3.29079777399, 8.88072598135, 0.787652698334)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984963353, -0.00051043524, -2.52127299e-05, -0.172762645)
+            double3 xformOp:translate = (3.49778698014, 8.67901434667, 0.745871440914)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.522820723, -0.000319133427, -0.000399166221, -0.852442509)
+            double3 xformOp:translate = (3.20254113892, 8.80863833674, 0.799412376182)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99960942, -0.000508688017, 4.91560571e-05, -0.0279418207)
+            double3 xformOp:translate = (1.66300348518, 8.52133177679, 0.747558797971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.323367914, -0.000223931949, -0.000459384695, -0.94627318)
+            double3 xformOp:translate = (1.86452971167, 8.31272262846, 0.806390763333)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.473853467, -0.000296085368, -0.000416549242, -0.880603561)
+            double3 xformOp:translate = (2.60024885825, 8.31950905585, 0.747644743029)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.469747549, -0.000182290577, 0.000477441056, 0.882800645)
+            double3 xformOp:translate = (3.66850723337, 8.61170868861, 0.793232559892)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99547816, -0.000498805233, 0.000111234687, 0.0949893294)
+            double3 xformOp:translate = (3.55355322801, 8.51012881659, 0.825082361653)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998796643, -0.00050339895, 8.81437091e-05, 0.0490408525)
+            double3 xformOp:translate = (1.87392312719, 8.90106716877, 0.746217011887)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.236198305, -0.000181337953, -0.000477803687, -0.971704739)
+            double3 xformOp:translate = (2.54822110492, 8.87074632485, 0.747851813252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.972857529, -0.000478691985, 0.000178979886, 0.231404338)
+            double3 xformOp:translate = (2.31055599383, 8.30246308918, 0.787252334859)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.717047273, -0.000319469242, 0.000398897505, 0.697024351)
+            double3 xformOp:translate = (2.54978387247, 8.2229293541, 0.775160325107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.63967763, -0.000373084693, -0.000349267273, -0.768643135)
+            double3 xformOp:translate = (2.96505086945, 8.83388241397, 0.79309635286)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0588262449, 3.34090998e-05, 0.00050996436, 0.998268106)
+            double3 xformOp:translate = (3.50082527782, 8.19729512809, 0.870947396539)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.609585969, -0.000359350002, -0.000363383258, -0.792719802)
+            double3 xformOp:translate = (3.45703317865, 8.79738733104, 0.74604352045)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999147039, -0.000509299203, 4.23572667e-05, -0.0412908354)
+            double3 xformOp:translate = (2.02922677185, 8.8955933219, 0.816623948488)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.460303082, -0.000289667223, -0.000421037666, -0.887761686)
+            double3 xformOp:translate = (2.70434744802, 8.85617560634, 0.789294415431)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.163140103, -0.000145232772, -0.000489986998, -0.98660278)
+            double3 xformOp:translate = (2.01338579312, 8.76501951995, 0.82251974086)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.67368975, -0.000294821876, 0.00041744446, 0.739014113)
+            double3 xformOp:translate = (1.65738596176, 8.82014486758, 0.745885231036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.680753078, -0.000298815665, 0.000414595001, 0.732512789)
+            double3 xformOp:translate = (3.22332918762, 8.30040043872, 0.755025893354)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0112/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0112/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6ca21b3bf472e9981c1dea5f6a02ffeb4cd801
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0112/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8097292009850782732,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "clock": 2,
+    "office_supply": 2,
+    "electronics": 7,
+    "office_supplies": 2,
+    "small object": 7,
+    "decorative_object": 1,
+    "writing_instrument": 1,
+    "electronics accessory": 1
+  },
+  "failed_sampling_attempt_count": 155,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.592809198318714,
+        8.295042698552441,
+        0.7408853693498394
+      ],
+      "rotation_wxyz": [
+        0.42663150319679244,
+        -0.0001590558020840296,
+        0.00048567588787556525,
+        0.9044253973104854
+      ],
+      "yaw_degrees_local": 129.43333048388274,
+      "yaw_radians": 2.260062729653221,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.592809198318714,
+        8.295042698552441,
+        0.7633823810636224
+      ],
+      "z_min": 0.7408853723447739,
+      "z_max": 0.78587939577234
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.0945849701283343,
+        8.33373700618235,
+        0.7410359540212426
+      ],
+      "rotation_wxyz": [
+        0.6076744216506115,
+        -0.0003584735156110796,
+        -0.0003642479304618568,
+        -0.7941860840456592
+      ],
+      "yaw_degrees_local": -105.21562336868007,
+      "yaw_radians": -1.8353344345087723,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0945849701283343,
+        8.33373700618235,
+        0.7910360478985581
+      ],
+      "z_min": 0.7410359540212426,
+      "z_max": 0.8410361417758736
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        1.9256247801719981,
+        8.633785067342963,
+        0.7757191643200484
+      ],
+      "rotation_wxyz": [
+        0.19740342635511865,
+        -0.0001622103719871347,
+        -0.00048463141815209207,
+        -0.9803222052383814
+      ],
+      "yaw_degrees_local": -157.28838862593528,
+      "yaw_radians": -2.7441757922474888,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9256247801719981,
+        8.633785067342963,
+        0.8108322386632337
+      ],
+      "z_min": 0.7407530613331175,
+      "z_max": 0.8109792100194883
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.6938020752045975,
+        8.749603081981155,
+        0.7473925539121641
+      ],
+      "rotation_wxyz": [
+        0.649451813553411,
+        -0.0002811754607406127,
+        0.0004267554059617954,
+        0.7604025780416381
+      ],
+      "yaw_degrees_local": 98.94070938739469,
+      "yaw_radians": 1.7278659725219314,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6938020752045975,
+        8.749603081981155,
+        0.7543758347210047
+      ],
+      "z_min": 0.7404115503132822,
+      "z_max": 0.7543781119309635
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        4.987164227417161,
+        8.398053347518507,
+        0.9677238322531894
+      ],
+      "rotation_wxyz": [
+        0.5938213562612702,
+        0.0,
+        0.0,
+        0.8045969157584596
+      ],
+      "yaw_degrees_local": 17.14269041233422,
+      "yaw_radians": 1.8699927171401933,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.987164227417161,
+        8.398053347518507,
+        1.0152473094534331
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0152469832968194
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        3.3500903336053507,
+        8.296667545913618,
+        0.751934529841839
+      ],
+      "rotation_wxyz": [
+        0.9314936559739676,
+        -0.000449331079076909,
+        0.00024347771482395085,
+        0.3637572098260536
+      ],
+      "yaw_degrees_local": 42.60353396845113,
+      "yaw_radians": 0.7445963733078481,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3500903336053507,
+        8.296667545913618,
+        0.7628139500449752
+      ],
+      "z_min": 0.7409144828808344,
+      "z_max": 0.7626733232871069
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        1.781797502499448,
+        8.419014001915345,
+        0.7660158105737574
+      ],
+      "rotation_wxyz": [
+        0.12165006211190366,
+        -0.0001245707216711015,
+        -0.0004956429678131766,
+        -0.9925729198443579
+      ],
+      "yaw_degrees_local": -166.08402473258994,
+      "yaw_radians": -2.897688551834598,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.781797502499448,
+        8.419014001915345,
+        0.7909600521438828
+      ],
+      "z_min": 0.7409891069437274,
+      "z_max": 0.7908775900839781
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.4238001729725904,
+        8.473397769211951,
+        0.7442353221619227
+      ],
+      "rotation_wxyz": [
+        0.6003405787630977,
+        -0.00025377805114930026,
+        0.0004435949920763035,
+        0.7997442893266403
+      ],
+      "yaw_degrees_local": 106.15269094921979,
+      "yaw_radians": 1.8537388470048384,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4238001729725904,
+        8.473397769211951,
+        0.7478156016432478
+      ],
+      "z_min": 0.7407258943591705,
+      "z_max": 0.7478864533218206
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.094183060792982,
+        8.288993549179049,
+        0.7486508768194098
+      ],
+      "rotation_wxyz": [
+        0.5301336000462954,
+        -0.0003225550186650326,
+        -0.00039640645324504124,
+        -0.8479139725951793
+      ],
+      "yaw_degrees_local": -116.02973688632801,
+      "yaw_radians": -2.024076408488825,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.094183060792982,
+        8.288993549179049,
+        0.7565057831632104
+      ],
+      "z_min": 0.7409546880971895,
+      "z_max": 0.7566645007847906
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.434659398204768,
+        8.283633532205304,
+        0.7463308966807809
+      ],
+      "rotation_wxyz": [
+        0.8583547656483397,
+        -0.00040278299803350314,
+        0.0003145563109134128,
+        0.5130563664052595
+      ],
+      "yaw_degrees_local": 61.67655468972612,
+      "yaw_radians": 1.0774834650062037,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.434659398204768,
+        8.283633532205304,
+        0.7516318873118943
+      ],
+      "z_min": 0.7410436855275132,
+      "z_max": 0.7516456667897402
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.290797773993987,
+        8.880725981354297,
+        0.787652698333863
+      ],
+      "rotation_wxyz": [
+        0.9384860602001084,
+        -0.0004977972592989277,
+        -0.00011566202866450479,
+        -0.3453167439181925
+      ],
+      "yaw_degrees_local": -40.46098029923189,
+      "yaw_radians": -0.7051523950524713,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.290797773993987,
+        8.880725981354297,
+        0.8350188249951179
+      ],
+      "z_min": 0.7403296434191132,
+      "z_max": 0.8350618967416232
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.4977869801387738,
+        8.679014346665676,
+        0.7458714409140346
+      ],
+      "rotation_wxyz": [
+        0.9849633533225653,
+        -0.0005104352402526635,
+        -2.5212729890243055e-05,
+        -0.17276264478107328
+      ],
+      "yaw_degrees_local": -19.955681194331362,
+      "yaw_radians": -0.3472675385409343,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4977869801387738,
+        8.679014346665676,
+        0.7512068816090354
+      ],
+      "z_min": 0.7405079781672245,
+      "z_max": 0.7511788595572261
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.202541138915771,
+        8.808638336740628,
+        0.7994123761818747
+      ],
+      "rotation_wxyz": [
+        0.5228207225269187,
+        -0.0003191334270234897,
+        -0.0003991662210114424,
+        -0.8524425088629818
+      ],
+      "yaw_degrees_local": -117.01539945576171,
+      "yaw_radians": -2.041279472653195,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.202541138915771,
+        8.808638336740628,
+        0.8585386542143948
+      ],
+      "z_min": 0.7404139453411686,
+      "z_max": 0.8586665014062088
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        1.663003485181219,
+        8.52133177679438,
+        0.7475587979705236
+      ],
+      "rotation_wxyz": [
+        0.9996094204607013,
+        -0.0005086880166581052,
+        4.915605709122633e-05,
+        -0.027941820742480934
+      ],
+      "yaw_degrees_local": -3.261024429261141,
+      "yaw_radians": -0.0558909587692742,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.663003485181219,
+        8.52133177679438,
+        0.7541716022540114
+      ],
+      "z_min": 0.7409003747043673,
+      "z_max": 0.7541259832713428
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.8645297116747845,
+        8.312722628464234,
+        0.806390763333173
+      ],
+      "rotation_wxyz": [
+        0.32336791369256734,
+        -0.00022393194917639137,
+        -0.00045938469541156315,
+        -0.9462731800142601
+      ],
+      "yaw_degrees_local": -142.32525566613202,
+      "yaw_radians": -2.4830198911718346,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8645297116747845,
+        8.312722628464234,
+        0.8717464876948146
+      ],
+      "z_min": 0.7410864498506705,
+      "z_max": 0.8717978985739535
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.600248858251852,
+        8.319509055848698,
+        0.7476447430293593
+      ],
+      "rotation_wxyz": [
+        0.47385346670868084,
+        -0.00029608536820124236,
+        -0.0004165492419599961,
+        -0.8806035605812352
+      ],
+      "yaw_degrees_local": -123.48925120523043,
+      "yaw_radians": -2.1542695417719884,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.600248858251852,
+        8.319509055848698,
+        0.7542575473128471
+      ],
+      "z_min": 0.7409863197632031,
+      "z_max": 0.7542119283301786
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.668507233372287,
+        8.611708688609673,
+        0.7932325598915019
+      ],
+      "rotation_wxyz": [
+        0.4697475490799264,
+        -0.00018229057673169673,
+        0.00047744105591699797,
+        0.8828006450799559
+      ],
+      "yaw_degrees_local": 123.90546032009752,
+      "yaw_radians": 2.1635831926509117,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.668507233372287,
+        8.611708688609673,
+        0.84578158875072
+      ],
+      "z_min": 0.7405546359991593,
+      "z_max": 0.8456526937175955
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.55355322800928,
+        8.510128816593523,
+        0.8250823616526127
+      ],
+      "rotation_wxyz": [
+        0.9954781595348536,
+        -0.0004988052331255198,
+        0.00011123468724686755,
+        0.09498932944959881
+      ],
+      "yaw_degrees_local": 10.84270232380561,
+      "yaw_radians": 0.1902653918048518,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.55355322800928,
+        8.510128816593523,
+        0.9094924837473163
+      ],
+      "z_min": 0.740672242950834,
+      "z_max": 0.909492487140241
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        1.8739231271912278,
+        8.901067168772265,
+        0.7462170118874248
+      ],
+      "rotation_wxyz": [
+        0.9987966427697721,
+        -0.0005033989499209061,
+        8.81437091280012e-05,
+        0.049040852480520536
+      ],
+      "yaw_degrees_local": 5.5632130535704505,
+      "yaw_radians": 0.09812096251614508,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8739231271912278,
+        8.901067168772265,
+        0.7518441387776437
+      ],
+      "z_min": 0.7404885106102203,
+      "z_max": 0.7517427643906579
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.5482211049226757,
+        8.870746324848843,
+        0.7478518132519292
+      ],
+      "rotation_wxyz": [
+        0.23619830529869626,
+        -0.00018133795293555138,
+        -0.0004778036867432653,
+        -0.9717047387937388
+      ],
+      "yaw_degrees_local": -152.7341681971051,
+      "yaw_radians": -2.6646896688659125,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5482211049226757,
+        8.870746324848843,
+        0.7553917158950286
+      ],
+      "z_min": 0.7404338295590174,
+      "z_max": 0.7555136348452163
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.3105559938259055,
+        8.302463089177161,
+        0.7872523348590293
+      ],
+      "rotation_wxyz": [
+        0.9728575287014499,
+        -0.00047869198533106154,
+        0.00017897988551823178,
+        0.2314043380515834
+      ],
+      "yaw_degrees_local": 26.700823341082156,
+      "yaw_radians": 0.4670417286660764,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3105559938259055,
+        8.302463089177161,
+        0.8334449347651118
+      ],
+      "z_min": 0.7410403334027985,
+      "z_max": 0.8334255332149634
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.5497838724667106,
+        8.222929354098335,
+        0.7751603251067883
+      ],
+      "rotation_wxyz": [
+        0.717047273394345,
+        -0.00031946924210516937,
+        0.00039889750511761955,
+        0.697024351466948
+      ],
+      "yaw_degrees_local": 88.31880846127336,
+      "yaw_radians": 1.5424787390282244,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5497838724667106,
+        8.222929354098335,
+        0.8091588812774672
+      ],
+      "z_min": 0.7410906822931626,
+      "z_max": 0.8090877946345202
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.965050869445555,
+        8.833882413970583,
+        0.7930963528597468
+      ],
+      "rotation_wxyz": [
+        0.6396776296959045,
+        -0.0003730846933489778,
+        -0.00034926727277117127,
+        -0.7686431349376728
+      ],
+      "yaw_degrees_local": -100.52312725199397,
+      "yaw_radians": -1.7534348852424686,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.965050869445555,
+        8.833882413970583,
+        0.8456453817189649
+      ],
+      "z_min": 0.7404184289674042,
+      "z_max": 0.8455164866858405
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.5008252778159132,
+        8.197295128085388,
+        0.8709473965387049
+      ],
+      "rotation_wxyz": [
+        0.05882624487236662,
+        3.340909982418639e-05,
+        0.0005099643598225764,
+        0.9982681061390273
+      ],
+      "yaw_degrees_local": 173.19640362339106,
+      "yaw_radians": 3.0238721825365884,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5008252778159132,
+        8.197295128085388,
+        1.001114546053474
+      ],
+      "z_min": 0.7409962334230686,
+      "z_max": 1.001330532452607
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.457033178647964,
+        8.797387331035962,
+        0.7460435204495445
+      ],
+      "rotation_wxyz": [
+        0.609585968978198,
+        -0.00035935000202770616,
+        -0.00036338325812150475,
+        -0.7927198024807349
+      ],
+      "yaw_degrees_local": -104.93955522332318,
+      "yaw_radians": -1.8305161339905942,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.457033178647964,
+        8.797387331035962,
+        0.7516923716628265
+      ],
+      "z_min": 0.7403930841797576,
+      "z_max": 0.7516907866063218
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.0292267718544377,
+        8.895593321899463,
+        0.8166239484883915
+      ],
+      "rotation_wxyz": [
+        0.999147039096918,
+        -0.0005092992030235161,
+        4.2357266672011826e-05,
+        -0.041290835351754186
+      ],
+      "yaw_degrees_local": -4.791637771604371,
+      "yaw_radians": -0.08260518729976173,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0292267718544377,
+        8.895593321899463,
+        0.8928098870104776
+      ],
+      "z_min": 0.7404744220011892,
+      "z_max": 0.8928462990453615
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        2.704347448021281,
+        8.856175606336262,
+        0.7892944154308574
+      ],
+      "rotation_wxyz": [
+        0.46030308231771966,
+        -0.0002896672232038335,
+        -0.00042103766582301524,
+        -0.8877616860559993
+      ],
+      "yaw_degrees_local": -125.24536950259832,
+      "yaw_radians": -2.1849195974395967,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.704347448021281,
+        8.856175606336262,
+        0.8381618799368066
+      ],
+      "z_min": 0.7404288479185392,
+      "z_max": 0.8381637769304376
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.0133857931210724,
+        8.76501951995373,
+        0.8225197408604245
+      ],
+      "rotation_wxyz": [
+        0.16314010332142864,
+        -0.00014523277198876677,
+        -0.0004899869979711417,
+        -0.9866027800023968
+      ],
+      "yaw_degrees_local": -161.28029534841613,
+      "yaw_radians": -2.8138476875422693,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0133857931210724,
+        8.76501951995373,
+        0.9044557499012433
+      ],
+      "z_min": 0.7406088642318973,
+      "z_max": 0.9044808823135349
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.6573859617573765,
+        8.820144867579684,
+        0.7458852310361848
+      ],
+      "rotation_wxyz": [
+        0.673689750484736,
+        -0.00029482187620621806,
+        0.0004174444604382217,
+        0.7390141127962294
+      ],
+      "yaw_degrees_local": 95.2363073830843,
+      "yaw_radians": 1.6632119310799882,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6573859617573765,
+        8.820144867579684,
+        0.7511862216672982
+      ],
+      "z_min": 0.7405980198829171,
+      "z_max": 0.7512000011451441
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.223329187618411,
+        8.300400438720079,
+        0.7550258933537788
+      ],
+      "rotation_wxyz": [
+        0.6807530776988174,
+        -0.0002988156645387085,
+        0.00041459500101496965,
+        0.732512788983081
+      ],
+      "yaw_degrees_local": 94.13623716308359,
+      "yaw_radians": 1.644012074557217,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.223329187618411,
+        8.300400438720079,
+        0.769117818645373
+      ],
+      "z_min": 0.7409267592484489,
+      "z_max": 0.7691106098316374
+    }
+  ],
+  "variant_index": 112
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0115/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0115/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..fc6eadc79c4adfb8bb908144afa20399179ef496
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0115/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5137649541440114994
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955215596, -0.000503151149, -8.95474062e-05, -0.295910298)
+            double3 xformOp:translate = (3.50486848888, 8.32493476343, 0.740866197037)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.786944751, -0.000438160999, -0.00026304896, -0.617023255)
+            double3 xformOp:translate = (2.67666658287, 8.2377968533, 0.741059506224)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.850156035, -0.000464483689, -0.000213154213, -0.526530583)
+            double3 xformOp:translate = (2.05533397831, 8.79688298018, 0.788151017582)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.10574829, 9.36867904e-06, 0.000510971667, 0.994392799)
+            double3 xformOp:translate = (3.21255898391, 8.44531812174, 0.765807853006)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958217536, -0.000504048193, -8.43518562e-05, -0.28604002)
+            double3 xformOp:translate = (3.21816833455, 8.861787458, 0.870309259987)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.644223826, -0.000375149012, -0.000347049039, -0.764836845)
+            double3 xformOp:translate = (1.82537810177, 8.24973107185, 0.795065326495)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990548267, -0.000511012224, -6.80610793e-06, -0.137163657)
+            double3 xformOp:translate = (2.94503496072, 8.27965732678, 0.746711554675)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.013385323, -7.01327708e-05, -0.000506222491, -0.999910282)
+            double3 xformOp:translate = (3.04140202893, 8.23146704863, 0.741019716721)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978093774, -0.000509194271, -4.36005827e-05, -0.208164136)
+            double3 xformOp:translate = (1.85245703711, 8.75152446747, 0.774712559025)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.73871724, -0.000417314533, -0.000295005757, -0.674015265)
+            double3 xformOp:translate = (2.21887950948, 8.90801034136, 0.765464475972)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.380757622, -0.000251666913, -0.000444796112, -0.924674738)
+            double3 xformOp:translate = (1.93617002349, 8.665188633, 0.774970914094)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.529236959, -0.00032213579, -0.00039674721, -0.848473913)
+            double3 xformOp:translate = (3.72443532433, 8.7039813496, 0.787550209306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999783167, -0.000505687212, 7.38935719e-05, 0.02081726)
+            double3 xformOp:translate = (2.50237220152, 8.86303735303, 0.870398684476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98561434, -0.000510527584, -2.32680608e-05, -0.169009206)
+            double3 xformOp:translate = (3.52225737576, 8.84769619502, 0.801008314877)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.528922397, -0.000214461279, 0.00046388164, 0.84867004)
+            double3 xformOp:translate = (3.44730104546, 8.5238080318, 0.786684418101)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.640365475, -0.000373397213, -0.000348933141, -0.768070177)
+            double3 xformOp:translate = (2.37911331972, 8.33248323906, 0.753517738004)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00204236665, -6.438612e-05, -0.000506985447, -0.999997784)
+            double3 xformOp:translate = (2.41927851266, 8.19095300348, 0.81728919738)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999707376, -0.000505435445, 7.55964781e-05, 0.0241847494)
+            double3 xformOp:translate = (1.89317582883, 8.45877899735, 0.78851447914)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.867529765, -0.000408428576, 0.000307190356, 0.497385007)
+            double3 xformOp:translate = (3.72443357995, 8.31534397362, 0.745168377991)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.661708897, -0.000383060887, -0.000338295985, -0.749760678)
+            double3 xformOp:translate = (3.69329506244, 8.90127035066, 0.799256246741)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0238838917, 0, 0, 0.999714739)
+            double3 xformOp:translate = (4.97957157275, 8.2267727971, 0.924520299449)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.112939313, 0, 0, 0.993601888)
+            double3 xformOp:translate = (4.87383275683, 8.76012469951, 0.998909598959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998254373, -0.000502489312, 9.31896323e-05, 0.05905883)
+            double3 xformOp:translate = (2.65656104212, 8.84276406838, 0.840668018312)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.286192747, -0.000205833621, -0.000467773809, -0.958171932)
+            double3 xformOp:translate = (3.52760509965, 8.65979988038, 0.774774742933)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0545710299, -9.09299762e-05, -0.000502903128, -0.99850976)
+            double3 xformOp:translate = (3.67636602835, 8.53079127063, 0.779981666324)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.812088464, -0.000448790221, -0.000244473216, -0.583534117)
+            double3 xformOp:translate = (3.44037317657, 8.77430215829, 0.777074175666)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.766113341, -0.00034779257, 0.000374459803, 0.642705288)
+            double3 xformOp:translate = (3.17804667751, 8.6122733523, 0.817983735465)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.926176561, -0.000445790069, 0.000249902043, 0.377089799)
+            double3 xformOp:translate = (1.96253690971, 8.43618861597, 0.81831633272)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869669954, -0.000409751568, 0.000305423426, 0.493633376)
+            double3 xformOp:translate = (3.19027399009, 8.29319055693, 0.817087818773)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998884608, -0.000503559212, 8.72234853e-05, 0.0472152416)
+            double3 xformOp:translate = (3.09643615927, 8.32237641929, 0.811092249421)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0115/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0115/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f695c5705e027afe2264e50de542b973b1bd0f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0115/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5137649541440114994,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 7,
+    "paper goods": 2,
+    "electronics": 5,
+    "small object": 6,
+    "small_electronics": 1,
+    "clock": 2,
+    "office_supply": 2,
+    "timepiece": 1,
+    "small electronic device": 1,
+    "paper_goods": 2
+  },
+  "failed_sampling_attempt_count": 121,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.5048684888804407,
+        8.324934763427834,
+        0.7408661970371466
+      ],
+      "rotation_wxyz": [
+        0.9552155958754657,
+        -0.000503151148544713,
+        -8.954740620726448e-05,
+        -0.2959102975843576
+      ],
+      "yaw_degrees_local": -34.48297669595871,
+      "yaw_radians": -0.6008165761976992,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5048684888804407,
+        8.324934763427834,
+        0.8908662029976111
+      ],
+      "z_min": 0.7408661970371466,
+      "z_max": 1.0408662089580756
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.6766665828664746,
+        8.237796853301877,
+        0.7410595062239526
+      ],
+      "rotation_wxyz": [
+        0.7869447510832204,
+        -0.0004381609986279824,
+        -0.0002630489603127939,
+        -0.617023255285206
+      ],
+      "yaw_degrees_local": -76.25688449150884,
+      "yaw_radians": -1.3299088473306129,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6766665828664746,
+        8.237796853301877,
+        0.7635565179377356
+      ],
+      "z_min": 0.7410595092188871,
+      "z_max": 0.7860535326464532
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.0553339783077544,
+        8.796882980175708,
+        0.7881510175823183
+      ],
+      "rotation_wxyz": [
+        0.8501560348660286,
+        -0.00046448368928398256,
+        -0.0002131542132575694,
+        -0.5265305833482571
+      ],
+      "yaw_degrees_local": -63.60139695672612,
+      "yaw_radians": -1.1090288549470608,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0553339783077544,
+        8.796882980175708,
+        0.8355499430104187
+      ],
+      "z_min": 0.7405712144700186,
+      "z_max": 0.8353690653262196
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.2125589839149895,
+        8.445318121735092,
+        0.7658078530062948
+      ],
+      "rotation_wxyz": [
+        0.10574829032534072,
+        9.36867903631048e-06,
+        0.0005109716666248993,
+        0.9943927986029724
+      ],
+      "yaw_degrees_local": 167.80072705130874,
+      "yaw_radians": 2.92969990993891,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2125589839149895,
+        8.445318121735092,
+        0.7907520945764202
+      ],
+      "z_min": 0.7407811493762648,
+      "z_max": 0.7906696325165155
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.2181683345477574,
+        8.861787458004233,
+        0.8703092599874869
+      ],
+      "rotation_wxyz": [
+        0.9582175358406536,
+        -0.0005040481927259744,
+        -8.435185623323046e-05,
+        -0.2860400196260128
+      ],
+      "yaw_degrees_local": -33.300766052110504,
+      "yaw_radians": -0.5801831144323694,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2181683345477574,
+        8.861787458004233,
+        1.000476409502256
+      ],
+      "z_min": 0.7403580968718506,
+      "z_max": 1.000692395901389
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        1.8253781017662951,
+        8.24973107185189,
+        0.7950653264950428
+      ],
+      "rotation_wxyz": [
+        0.6442238264848759,
+        -0.0003751490117746221,
+        -0.00034704903861678836,
+        -0.7648368454836421
+      ],
+      "yaw_degrees_local": -99.84368668789428,
+      "yaw_radians": -1.741576404167098,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8253781017662951,
+        8.24973107185189,
+        0.848985528788441
+      ],
+      "z_min": 0.7411552925152165,
+      "z_max": 0.848995697102013
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        2.945034960722424,
+        8.279657326777196,
+        0.7467115546751151
+      ],
+      "rotation_wxyz": [
+        0.9905482673536306,
+        -0.0005110122240564395,
+        -6.806107933604263e-06,
+        -0.13716365722342266
+      ],
+      "yaw_degrees_local": -15.826217239810148,
+      "yaw_radians": -0.27519483120852617,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.945034960722424,
+        8.279657326777196,
+        0.7523386815653339
+      ],
+      "z_min": 0.7409830533979105,
+      "z_max": 0.7522373071783481
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.0414020289250567,
+        8.23146704862546,
+        0.7410197167207968
+      ],
+      "rotation_wxyz": [
+        0.013385322952727253,
+        -7.013277082380173e-05,
+        -0.0005062224912989236,
+        -0.9999102819501534
+      ],
+      "yaw_degrees_local": -178.52481938765757,
+      "yaw_radians": -3.1148212824295793,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0414020289250567,
+        8.23146704862546,
+        0.7910198105981123
+      ],
+      "z_min": 0.7410197167207968,
+      "z_max": 0.8410199044754278
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.8524570371116476,
+        8.751524467467016,
+        0.7747125590253416
+      ],
+      "rotation_wxyz": [
+        0.9780937742075356,
+        -0.0005091942708103042,
+        -4.360058272861916e-05,
+        -0.20816413638435002
+      ],
+      "yaw_degrees_local": -24.088288818370472,
+      "yaw_radians": -0.4193951155699399,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8524570371116476,
+        8.751524467467016,
+        0.8087111151960205
+      ],
+      "z_min": 0.7406429162117159,
+      "z_max": 0.8086400285530735
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        2.2188795094849265,
+        8.908010341364978,
+        0.7654644759716694
+      ],
+      "rotation_wxyz": [
+        0.7387172401779637,
+        -0.000417314533138296,
+        -0.0002950057570148058,
+        -0.674015265319738
+      ],
+      "yaw_degrees_local": -84.81417710010761,
+      "yaw_radians": -1.4792618433805516,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2188795094849265,
+        8.908010341364978,
+        0.7904087175417948
+      ],
+      "z_min": 0.7404377723416394,
+      "z_max": 0.7903262554818901
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.936170023488371,
+        8.665188633004641,
+        0.7749709140935489
+      ],
+      "rotation_wxyz": [
+        0.38075762238508226,
+        -0.00025166691315913327,
+        -0.0004447961117874862,
+        -0.9246747383895826
+      ],
+      "yaw_degrees_local": -135.2974654067431,
+      "yaw_radians": -2.360361804509418,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.936170023488371,
+        8.665188633004641,
+        0.8091764338060508
+      ],
+      "z_min": 0.7407198743586754,
+      "z_max": 0.8091309137836791
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.724435324333901,
+        8.703981349603849,
+        0.7875502093056703
+      ],
+      "rotation_wxyz": [
+        0.529236958745618,
+        -0.00032213579005648375,
+        -0.000396747210456479,
+        -0.8484739125735529
+      ],
+      "yaw_degrees_local": -116.15087370398841,
+      "yaw_radians": -2.02619064567477,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.724435324333901,
+        8.703981349603849,
+        0.8346559599923028
+      ],
+      "z_min": 0.7404539610298557,
+      "z_max": 0.8346654624031207
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.502372201519975,
+        8.863037353030908,
+        0.8703986844757768
+      ],
+      "rotation_wxyz": [
+        0.9997831667439259,
+        -0.0005056872118944723,
+        7.389357189030457e-05,
+        0.020817260042365098
+      ],
+      "yaw_degrees_local": 2.3269445036033005,
+      "yaw_radians": 0.04163744813398017,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.502372201519975,
+        8.863037353030908,
+        1.0005658339905459
+      ],
+      "z_min": 0.7404475213601407,
+      "z_max": 1.000781820389679
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.522257375756143,
+        8.847696195020255,
+        0.8010083148766878
+      ],
+      "rotation_wxyz": [
+        0.9856143399457513,
+        -0.0005105275835693333,
+        -2.3268060838198352e-05,
+        -0.1690092060021735
+      ],
+      "yaw_degrees_local": -19.519147397466156,
+      "yaw_radians": -0.3396485900929096,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.522257375756143,
+        8.847696195020255,
+        0.8616351813319474
+      ],
+      "z_min": 0.7403338240746055,
+      "z_max": 0.8615875569851247
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.447301045461895,
+        8.523808031800906,
+        0.7866844181014809
+      ],
+      "rotation_wxyz": [
+        0.5289223970200636,
+        -0.00021446127871913704,
+        0.0004638816402601694,
+        0.8486700399747443
+      ],
+      "yaw_degrees_local": 116.07593142843007,
+      "yaw_radians": 2.026932115403677,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.447301045461895,
+        8.523808031800906,
+        0.8328828326023607
+      ],
+      "z_min": 0.7406718112638642,
+      "z_max": 0.8330686402656239
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        2.379113319716298,
+        8.332483239064638,
+        0.7535177380041428
+      ],
+      "rotation_wxyz": [
+        0.6403654749155726,
+        -0.0003733972134615224,
+        -0.00034893314147481445,
+        -0.7680701773642414
+      ],
+      "yaw_degrees_local": -100.42054305467434,
+      "yaw_radians": -1.7516444523096457,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.379113319716298,
+        8.332483239064638,
+        0.7660864042631722
+      ],
+      "z_min": 0.7410011821096602,
+      "z_max": 0.7661385146277189
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.4192785126560072,
+        8.190953003476737,
+        0.8172891973802326
+      ],
+      "rotation_wxyz": [
+        0.002042366648311858,
+        -6.438611997919696e-05,
+        -0.0005069854473200756,
+        -0.9999977837768731
+      ],
+      "yaw_degrees_local": -179.82467224766194,
+      "yaw_radians": -3.137507983238078,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4192785126560072,
+        8.190953003476737,
+        0.8934751359023188
+      ],
+      "z_min": 0.7411396708930303,
+      "z_max": 0.8935115479372027
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.893175828831207,
+        8.458778997351796,
+        0.7885144791402209
+      ],
+      "rotation_wxyz": [
+        0.9997073755436229,
+        -0.0005054354446854478,
+        7.559647806568944e-05,
+        0.024184749406714015
+      ],
+      "yaw_degrees_local": 2.712928316236315,
+      "yaw_radians": 0.04837413320464869,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.893175828831207,
+        8.458778997351796,
+        0.8359134045683213
+      ],
+      "z_min": 0.7409346760279212,
+      "z_max": 0.8357325268841221
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.7244335799541135,
+        8.31534397362485,
+        0.7451683779909314
+      ],
+      "rotation_wxyz": [
+        0.8675297652714231,
+        -0.0004084285758791185,
+        0.00030719035571721284,
+        0.497385006999903
+      ],
+      "yaw_degrees_local": 59.595585630721814,
+      "yaw_radians": 1.0411636897353054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7244335799541135,
+        8.31534397362485,
+        0.7493049793510584
+      ],
+      "z_min": 0.740848107438464,
+      "z_max": 0.7491213101587181
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.6932950624419076,
+        8.901270350657942,
+        0.799256246740745
+      ],
+      "rotation_wxyz": [
+        0.6617088968690978,
+        -0.00038306088657076625,
+        -0.00033829598493025477,
+        -0.7497606782330384
+      ],
+      "yaw_degrees_local": -97.19803008182646,
+      "yaw_radians": -1.6954009614288892,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6932950624419076,
+        8.901270350657942,
+        0.8583825247732652
+      ],
+      "z_min": 0.7402578159000389,
+      "z_max": 0.8585103719650792
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        4.979571572751976,
+        8.22677279709759,
+        0.9245202994487992
+      ],
+      "rotation_wxyz": [
+        -0.02388389168845384,
+        0.0,
+        0.0,
+        0.9997147391720371
+      ],
+      "yaw_degrees_local": 92.73715265661963,
+      "yaw_radians": -3.0938203276020713,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.979571572751976,
+        8.22677279709759,
+        0.9286569008089263
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9284732316165859
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        4.8738327568270385,
+        8.760124699509845,
+        0.9989095989589569
+      ],
+      "rotation_wxyz": [
+        -0.11293931265422602,
+        0.0,
+        0.0,
+        0.9936018879094339
+      ],
+      "yaw_degrees_local": 102.96956396996967,
+      "yaw_radians": -2.9152310597657958,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8738327568270385,
+        8.760124699509845,
+        1.0776202617835788
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0776213545455757
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.65656104211529,
+        8.842764068381221,
+        0.840668018312474
+      ],
+      "rotation_wxyz": [
+        0.9982543731043212,
+        -0.0005024893120001562,
+        9.31896322877295e-05,
+        0.05905882997725845
+      ],
+      "yaw_degrees_local": 6.712874250399295,
+      "yaw_radians": 0.11818632631477778,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.65656104211529,
+        8.842764068381221,
+        0.940756719404487
+      ],
+      "z_min": 0.7404485317482786,
+      "z_max": 0.9406259339323046
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        3.527605099654573,
+        8.659799880384586,
+        0.7747747429326319
+      ],
+      "rotation_wxyz": [
+        0.2861927470266499,
+        -0.00020583362136157888,
+        -0.0004677738091829114,
+        -0.958171931528744
+      ],
+      "yaw_degrees_local": -146.79838994912222,
+      "yaw_radians": -2.5610908089097295,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.527605099654573,
+        8.659799880384586,
+        0.8089802626451338
+      ],
+      "z_min": 0.7405237031977584,
+      "z_max": 0.8089347426227621
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.676366028345056,
+        8.530791270631257,
+        0.7799816663239101
+      ],
+      "rotation_wxyz": [
+        0.05457102991416341,
+        -9.092997618818103e-05,
+        -0.0005029031275213244,
+        -0.9985097603500386
+      ],
+      "yaw_degrees_local": -173.80222228132737,
+      "yaw_radians": -3.032396453545138,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.676366028345056,
+        8.530791270631257,
+        0.8193305256497859
+      ],
+      "z_min": 0.7406357023659738,
+      "z_max": 0.8193334210177254
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.440373176568861,
+        8.774302158287792,
+        0.777074175665822
+      ],
+      "rotation_wxyz": [
+        0.812088463809996,
+        -0.00044879022143715915,
+        -0.00024447321608449924,
+        -0.5835341170547826
+      ],
+      "yaw_degrees_local": -71.45772011195226,
+      "yaw_radians": -1.2461475975600778,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.440373176568861,
+        8.774302158287792,
+        0.8136843887350007
+      ],
+      "z_min": 0.7404186249415373,
+      "z_max": 0.8136390510798946
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.178046677508676,
+        8.61227335229782,
+        0.8179837354652624
+      ],
+      "rotation_wxyz": [
+        0.7661133411823152,
+        -0.000347792570189314,
+        0.00037445980339874103,
+        0.6427052880462814
+      ],
+      "yaw_degrees_local": 79.92898830627848,
+      "yaw_radians": 1.3960486775361374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.178046677508676,
+        8.61227335229782,
+        0.8953654905986018
+      ],
+      "z_min": 0.740616218097879,
+      "z_max": 0.8953797283645579
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.9625369097103154,
+        8.436188615968675,
+        0.8183163327202494
+      ],
+      "rotation_wxyz": [
+        0.9261765611902464,
+        -0.0004457900687144303,
+        0.0002499020425604724,
+        0.37708979875089926
+      ],
+      "yaw_degrees_local": 44.24836404116604,
+      "yaw_radians": 0.7733040766275696,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9625369097103154,
+        8.436188615968675,
+        0.8956980878535888
+      ],
+      "z_min": 0.740948815352866,
+      "z_max": 0.895712325619545
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.19027399009413,
+        8.293190556930723,
+        0.8170878187729561
+      ],
+      "rotation_wxyz": [
+        0.8696699542683956,
+        -0.0004097515677604321,
+        0.0003054234256866697,
+        0.4936333755561824
+      ],
+      "yaw_degrees_local": 59.100645845892586,
+      "yaw_radians": 1.0325253578104023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.19027399009413,
+        8.293190556930723,
+        0.8932737572950422
+      ],
+      "z_min": 0.7409382922857538,
+      "z_max": 0.8933101693299261
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.096436159269723,
+        8.322376419293485,
+        0.8110922494209525
+      ],
+      "rotation_wxyz": [
+        0.9988846078420234,
+        -0.0005035592118563621,
+        8.722348534031461e-05,
+        0.047215241569552924
+      ],
+      "yaw_degrees_local": 5.353770689167931,
+      "yaw_radians": 0.09446550539081376,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.096436159269723,
+        8.322376419293485,
+        0.8812686156528713
+      ],
+      "z_min": 0.7409205772807324,
+      "z_max": 0.8812733097445701
+    }
+  ],
+  "variant_index": 115
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0116/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0116/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..e22cf98d16ad6e78ef2dc002dc9e3a22ae6cdf5d
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0116/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7340056891701192138
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994081078, -0.00051099675, 7.88273193e-06, -0.108639541)
+            double3 xformOp:translate = (3.12081175558, 8.8985242972, 0.740333104494)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989546195, -0.000492678544, 0.000135822194, 0.144215348)
+            double3 xformOp:translate = (2.00164381616, 8.60744443895, 0.740770123889)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.685691419, -0.000301612695, 0.00041256466, 0.727892174)
+            double3 xformOp:translate = (3.6935584059, 8.38468048694, 0.755110725603)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.101443077, 1.15803289e-05, 0.000510926328, 0.994841214)
+            double3 xformOp:translate = (3.48542577253, 8.35267404159, 0.747498953127)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0459571953, -8.65892269e-05, -0.000503668663, -0.998943279)
+            double3 xformOp:translate = (3.15584209319, 8.52983692973, 0.787279524365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.88457225, -0.000419033825, 0.00029255849, 0.466402909)
+            double3 xformOp:translate = (3.37622169233, 8.49684008499, 0.804956651116)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.668894193, -0.00029211482, 0.000419343234, 0.743357449)
+            double3 xformOp:translate = (3.53058450223, 8.84344921576, 0.743751587452)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.392471898, -0.000140761222, 0.000491290235, 0.919763855)
+            double3 xformOp:translate = (1.82732427035, 8.31787274957, 0.76016384356)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.590418638, -0.000248280678, 0.00044669511, 0.807097002)
+            double3 xformOp:translate = (2.42963474967, 8.19145535997, 0.882772746686)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.62620772, -0.000366951564, -0.000355705448, -0.779656097)
+            double3 xformOp:translate = (3.19434631072, 8.69461439614, 0.746181038788)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.262799583, -0.000194393654, -0.00047264249, -0.964850308)
+            double3 xformOp:translate = (3.68620940504, 8.8386128869, 0.786899155721)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.239799678, -0.000183108361, -0.000477128017, -0.970822256)
+            double3 xformOp:translate = (3.23737972232, 8.87535881006, 0.817709388165)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.10323843, 1.06581752e-05, 0.000510946396, 0.994656506)
+            double3 xformOp:translate = (2.03850990574, 8.2809796987, 0.741096563959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00435032089, -6.55560531e-05, -0.000506835496, -0.999990407)
+            double3 xformOp:translate = (2.19332846954, 8.20207118852, 0.823067902234)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99505367, -0.000510900676, 1.26615778e-05, -0.0993374643)
+            double3 xformOp:translate = (1.82234875533, 8.57577720917, 0.750846659377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.556041047, -0.000334631388, -0.000386266295, -0.831154675)
+            double3 xformOp:translate = (3.26300744803, 8.53707835251, 0.822592597663)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.151584701, 0, 0, 0.988444272)
+            double3 xformOp:translate = (4.95028609263, 8.15561590425, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.323343119, -0.000223919912, -0.000459390563, -0.946281653)
+            double3 xformOp:translate = (3.34185639684, 8.3089434162, 0.813675326606)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.41443153, -0.000267818926, -0.000435261805, -0.910080351)
+            double3 xformOp:translate = (1.73306543008, 8.80102239774, 0.777263392944)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.598009071, -0.000354034716, -0.000368563747, -0.80148917)
+            double3 xformOp:translate = (2.30244996128, 8.30985505546, 0.746321053052)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.931134834, -0.000449090989, 0.000243920273, 0.364674732)
+            double3 xformOp:translate = (3.04621918041, 8.23892798395, 0.813783796077)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993983053, -0.000511003627, 7.42354749e-06, -0.109532778)
+            double3 xformOp:translate = (3.3638288724, 8.41092034562, 0.74079685757)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.383045696, -0.000135729834, 0.000492703997, 0.923729253)
+            double3 xformOp:translate = (2.60261524894, 8.23571104535, 0.746358221014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.575424614, -0.000343618541, -0.000378293688, -0.817854665)
+            double3 xformOp:translate = (3.14644887143, 8.31173805388, 0.775531801259)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.830352798, -0.000456386471, -0.00022998088, -0.557237803)
+            double3 xformOp:translate = (1.89407815619, 8.72992990933, 0.796819476374)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00577746005, -6.62793203e-05, -0.000506741421, -0.99998318)
+            double3 xformOp:translate = (3.65948369407, 8.55851620218, 0.751057046286)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0995697103, -0.000113529109, -0.000498288027, -0.995030458)
+            double3 xformOp:translate = (2.03811173882, 8.84901275165, 0.747178926746)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.313486151, -9.88166197e-05, 0.000501413095, 0.949592635)
+            double3 xformOp:translate = (2.82113978255, 8.25368996408, 0.748443072566)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929534006, -0.000494741155, -0.000128105448, -0.368736045)
+            double3 xformOp:translate = (1.84014812194, 8.66124970932, 0.818695860022)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.673845967, -0.00029491012, 0.000417382124, 0.738871675)
+            double3 xformOp:translate = (2.71296749376, 8.27420881337, 0.749837488276)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0116/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0116/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7d3afe9ab7ee5ddcd5bb5d67dc9dfa570e0633
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0116/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7340056891701192138,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 1,
+    "electronics": 5,
+    "small object": 7,
+    "small_prop": 1,
+    "writing_instrument": 2,
+    "paper_goods": 1,
+    "small electronic device": 1,
+    "office_supplies": 2,
+    "office_supply": 1,
+    "small prop": 1,
+    "electronics accessory": 1
+  },
+  "failed_sampling_attempt_count": 175,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.1208117555782535,
+        8.898524297200451,
+        0.7403331044938009
+      ],
+      "rotation_wxyz": [
+        0.9940810776403106,
+        -0.0005109967502613899,
+        7.882731925627084e-06,
+        -0.10863954113334086
+      ],
+      "yaw_degrees_local": -12.532506096084717,
+      "yaw_radians": -0.21770875626130082,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1208117555782535,
+        8.898524297200451,
+        0.7903331983711164
+      ],
+      "z_min": 0.7403331044938009,
+      "z_max": 0.8403332922484319
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.001643816160647,
+        8.607444438953843,
+        0.740770123889143
+      ],
+      "rotation_wxyz": [
+        0.9895461950765545,
+        -0.0004926785442525769,
+        0.00013582219359690195,
+        0.14421534810725836
+      ],
+      "yaw_degrees_local": 16.524980529199468,
+      "yaw_radians": 0.2894398169031602,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.001643816160647,
+        8.607444438953843,
+        0.763267135602926
+      ],
+      "z_min": 0.7407701268840775,
+      "z_max": 0.7857641503116436
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        3.6935584058980906,
+        8.384680486940901,
+        0.7551107256028715
+      ],
+      "rotation_wxyz": [
+        0.685691419047982,
+        -0.0003016126947187894,
+        0.0004125646599319711,
+        0.7278921737895996
+      ],
+      "yaw_degrees_local": 93.36126023304894,
+      "yaw_radians": 1.6304861689437835,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6935584058980906,
+        8.384680486940901,
+        0.7692070272352773
+      ],
+      "z_min": 0.7407817012629094,
+      "z_max": 0.7689743045277211
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.485425772529359,
+        8.352674041589438,
+        0.7474989531268532
+      ],
+      "rotation_wxyz": [
+        0.10144307683024546,
+        1.158032885102735e-05,
+        0.0005109263275894232,
+        0.9948412139549693
+      ],
+      "yaw_degrees_local": 168.29673742812707,
+      "yaw_radians": 2.9383569196790167,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.485425772529359,
+        8.352674041589438,
+        0.754111757410341
+      ],
+      "z_min": 0.7408405298606969,
+      "z_max": 0.7540661384276724
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.1558420931858615,
+        8.529836929732534,
+        0.7872795243645192
+      ],
+      "rotation_wxyz": [
+        0.045957195305288676,
+        -8.658922686720724e-05,
+        -0.0005036686629430621,
+        -0.9989432791804826
+      ],
+      "yaw_degrees_local": -174.7905475122454,
+      "yaw_radians": -3.0496459747909843,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1558420931858615,
+        8.529836929732534,
+        0.8336466925004041
+      ],
+      "z_min": 0.7407026250321603,
+      "z_max": 0.8334369613039302
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.3762216923336874,
+        8.496840084985283,
+        0.8049566511159139
+      ],
+      "rotation_wxyz": [
+        0.8845722499436937,
+        -0.00041903382454751037,
+        0.0002925584900928341,
+        0.46640290892074815
+      ],
+      "yaw_degrees_local": 55.54340496721912,
+      "yaw_radians": 0.9704397717933869,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3762216923336874,
+        8.496840084985283,
+        0.8691456052036344
+      ],
+      "z_min": 0.7407081783826475,
+      "z_max": 0.8690860865580884
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        3.5305845022317612,
+        8.843449215759424,
+        0.7437515874524275
+      ],
+      "rotation_wxyz": [
+        0.6688941930665219,
+        -0.00029211481979699857,
+        0.00041934323446942556,
+        0.7433574492140848
+      ],
+      "yaw_degrees_local": 95.97772538919435,
+      "yaw_radians": 1.676152122517272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5305845022317612,
+        8.843449215759424,
+        0.7471908695316426
+      ],
+      "z_min": 0.7403370465310722,
+      "z_max": 0.7472156106895023
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16224576342244285,
+        0.24102301097507128,
+        0.03758840135605822
+      ],
+      "bbox_min_m": [
+        -0.08114587301735716,
+        -0.12032177935879133,
+        -0.01907792730343724
+      ],
+      "bbox_max_m": [
+        0.08109989040508565,
+        0.12070123161627995,
+        0.018510474052620973
+      ],
+      "translation_world": [
+        1.82732427034868,
+        8.317872749571201,
+        0.7601638435598546
+      ],
+      "rotation_wxyz": [
+        0.39247189792451737,
+        -0.00014076122158575128,
+        0.0004912902347268868,
+        0.9197638545625236
+      ],
+      "yaw_degrees_local": 133.72449158461046,
+      "yaw_radians": 2.3349576144814974,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.82732427034868,
+        8.317872749571201,
+        0.7789580442378836
+      ],
+      "z_min": 0.7410859162564173,
+      "z_max": 0.7786743176124755
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.4296347496734922,
+        8.191455359972858,
+        0.8827727466861089
+      ],
+      "rotation_wxyz": [
+        0.5904186378680357,
+        -0.00024828067824984477,
+        0.0004466951097203882,
+        0.8070970021492071
+      ],
+      "yaw_degrees_local": 107.56783534692005,
+      "yaw_radians": 1.878437784754643,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4296347496734922,
+        8.191455359972858,
+        1.0243335338818604
+      ],
+      "z_min": 0.7411378834469884,
+      "z_max": 1.0242594578384914
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.194346310715976,
+        8.694614396138537,
+        0.7461810387875665
+      ],
+      "rotation_wxyz": [
+        0.626207720224513,
+        -0.0003669515644756236,
+        -0.0003557054477643052,
+        -0.7796560972322361
+      ],
+      "yaw_degrees_local": -102.51692658251534,
+      "yaw_radians": -1.7882332661495164,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.194346310715976,
+        8.694614396138537,
+        0.7518298900008485
+      ],
+      "z_min": 0.7405306025177796,
+      "z_max": 0.7518283049443438
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.6862094050351626,
+        8.83861288689669,
+        0.7868991557205196
+      ],
+      "rotation_wxyz": [
+        0.262799583493363,
+        -0.00019439365367631865,
+        -0.00047264249031449143,
+        -0.9648503084602807
+      ],
+      "yaw_degrees_local": -149.58621715771451,
+      "yaw_radians": -2.6097475673828745,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6862094050351626,
+        8.83861288689669,
+        0.8332663238564045
+      ],
+      "z_min": 0.7403222563881607,
+      "z_max": 0.8330565926599306
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.237379722324048,
+        8.875358810062572,
+        0.8177093881653418
+      ],
+      "rotation_wxyz": [
+        0.2397996776029476,
+        -0.000183108360553375,
+        -0.0004771280169260319,
+        -0.9708222563588591
+      ],
+      "yaw_degrees_local": -152.30927176561906,
+      "yaw_radians": -2.6572738285247923,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.237379722324048,
+        8.875358810062572,
+        0.8950911432986812
+      ],
+      "z_min": 0.7403418707979584,
+      "z_max": 0.8951053810646373
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.0385099057371807,
+        8.280979698698864,
+        0.7410965639586337
+      ],
+      "rotation_wxyz": [
+        0.10323843007252675,
+        1.0658175239687377e-05,
+        0.0005109463959564375,
+        0.9946565062253119
+      ],
+      "yaw_degrees_local": 168.08991912509248,
+      "yaw_radians": 2.9347472611986696,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0385099057371807,
+        8.280979698698864,
+        0.7635935756724167
+      ],
+      "z_min": 0.7410965669535682,
+      "z_max": 0.7860905903811343
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.1933284695426414,
+        8.202071188517431,
+        0.8230679022336542
+      ],
+      "rotation_wxyz": [
+        0.004350320889067921,
+        -6.555605306027522e-05,
+        -0.0005068354961399911,
+        -0.9999904067181575
+      ],
+      "yaw_degrees_local": -179.56019872879918,
+      "yaw_radians": -3.1328920518788816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1933284695426414,
+        8.202071188517431,
+        0.9050039112744731
+      ],
+      "z_min": 0.741157025605127,
+      "z_max": 0.9050290436867647
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.8223487553282391,
+        8.575777209172903,
+        0.7508466593770163
+      ],
+      "rotation_wxyz": [
+        0.9950536704108737,
+        -0.0005109006759523889,
+        1.2661577773117001e-05,
+        -0.09933746434267704
+      ],
+      "yaw_degrees_local": -11.460751945310193,
+      "yaw_radians": -0.19900312719106272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8223487553282391,
+        8.575777209172903,
+        0.760884010357835
+      ],
+      "z_min": 0.7408249669275142,
+      "z_max": 0.7608996688891516
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.2630074480336964,
+        8.537078352508043,
+        0.8225925976632227
+      ],
+      "rotation_wxyz": [
+        0.5560410468243292,
+        -0.00033463138767058287,
+        -0.00038626629496497965,
+        -0.8311546745742865
+      ],
+      "yaw_degrees_local": -112.49380146270208,
+      "yaw_radians": -1.962362666552035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2630074480336964,
+        8.537078352508043,
+        0.9045286067040416
+      ],
+      "z_min": 0.7406817210346954,
+      "z_max": 0.9045537391163332
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.950286092628766,
+        8.15561590425457,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.1515847009610724,
+        0.0,
+        0.0,
+        0.9884442717900399
+      ],
+      "yaw_degrees_local": 107.43754694646918,
+      "yaw_radians": -2.8372500459028225,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.950286092628766,
+        8.15561590425457,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.341856396839638,
+        8.308943416195907,
+        0.8136753266059376
+      ],
+      "rotation_wxyz": [
+        0.32334311900943374,
+        -0.00022391991214528156,
+        -0.00045939056279506007,
+        -0.9462816526856236
+      ],
+      "yaw_degrees_local": -142.3282582331875,
+      "yaw_radians": -2.483072295852824,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.341856396839638,
+        8.308943416195907,
+        0.8865377712126813
+      ],
+      "z_min": 0.7409031078040611,
+      "z_max": 0.8866279970175485
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        1.7330654300765047,
+        8.801022397736668,
+        0.7772633929435618
+      ],
+      "rotation_wxyz": [
+        0.4144315295576551,
+        -0.00026781892644939963,
+        -0.00043526180498155786,
+        -0.9100803514683121
+      ],
+      "yaw_degrees_local": -131.09165901526245,
+      "yaw_radians": -2.2869566234576792,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7330654300765047,
+        8.801022397736668,
+        0.8138736060127405
+      ],
+      "z_min": 0.7406078422192771,
+      "z_max": 0.8138282683576344
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.3024499612806166,
+        8.309855055458115,
+        0.746321053051946
+      ],
+      "rotation_wxyz": [
+        0.5980090708894847,
+        -0.0003540347164959934,
+        -0.0003685637472078801,
+        -0.8014891702038645
+      ],
+      "yaw_degrees_local": -106.6038181960367,
+      "yaw_radians": -1.8595630169770028,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3024499612806166,
+        8.309855055458115,
+        0.7516220436830594
+      ],
+      "z_min": 0.7410338418986783,
+      "z_max": 0.7516358231609053
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.046219180407853,
+        8.238927983948592,
+        0.8137837960767944
+      ],
+      "rotation_wxyz": [
+        0.9311348338000074,
+        -0.00044909098910326416,
+        0.00024392027334062356,
+        0.3646747319247887
+      ],
+      "yaw_degrees_local": 42.716428493374536,
+      "yaw_radians": 0.7465667546482769,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.046219180407853,
+        8.238927983948592,
+        0.8866462406835381
+      ],
+      "z_min": 0.741011577274918,
+      "z_max": 0.8867364664884053
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.3638288724014025,
+        8.41092034561845,
+        0.7407968575703294
+      ],
+      "rotation_wxyz": [
+        0.9939830528879914,
+        -0.0005110036273677812,
+        7.423547486368659e-06,
+        -0.10953277770445069
+      ],
+      "yaw_degrees_local": -12.635477990002272,
+      "yaw_radians": -0.21950595392504965,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3638288724014025,
+        8.41092034561845,
+        0.790796951447645
+      ],
+      "z_min": 0.7407968575703294,
+      "z_max": 0.8407970453249605
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.6026152489397067,
+        8.23571104535309,
+        0.7463582210144978
+      ],
+      "rotation_wxyz": [
+        0.3830456963174764,
+        -0.00013572983417992318,
+        0.0004927039966894963,
+        0.9237292532732974
+      ],
+      "yaw_degrees_local": 134.89634703635278,
+      "yaw_radians": 2.3554103480724065,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6026152489397067,
+        8.23571104535309,
+        0.7516592116456112
+      ],
+      "z_min": 0.7410710098612301,
+      "z_max": 0.7516729911234571
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.146448871427626,
+        8.311738053882955,
+        0.7755318012592956
+      ],
+      "rotation_wxyz": [
+        0.5754246140884104,
+        -0.0003436185410531057,
+        -0.00037829368813773205,
+        -0.8178546645470623
+      ],
+      "yaw_degrees_local": -109.79995268263343,
+      "yaw_radians": -1.9153461140991308,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.146448871427626,
+        8.311738053882955,
+        0.8101315282421309
+      ],
+      "z_min": 0.7409250118089122,
+      "z_max": 0.8101244657745827
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.8940781561944204,
+        8.729929909334885,
+        0.7968194763740483
+      ],
+      "rotation_wxyz": [
+        0.8303527982486657,
+        -0.00045638647107900206,
+        -0.00022998088019739337,
+        -0.5572378031512171
+      ],
+      "yaw_degrees_local": -67.78869615314957,
+      "yaw_radians": -1.1821110300250681,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8940781561944204,
+        8.729929909334885,
+        0.8530017561839409
+      ],
+      "z_min": 0.7406595562040841,
+      "z_max": 0.8530241158238694
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_098_laboratory_workbench_asset_000011_spiral_notebook_001_spiral_notebook_d8c949d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17135408564547958,
+        0.12615247863082146,
+        0.020837576756573974
+      ],
+      "bbox_min_m": [
+        -0.08557922064932827,
+        -0.06318043175369172,
+        -0.010447339522802175
+      ],
+      "bbox_max_m": [
+        0.08577486499615133,
+        0.0629720468771298,
+        0.010390237233771776
+      ],
+      "translation_world": [
+        3.6594836940655293,
+        8.558516202184256,
+        0.751057046286265
+      ],
+      "rotation_wxyz": [
+        0.005777460045113236,
+        -6.627932026548693e-05,
+        -0.0005067414211858526,
+        -0.9999831797463451
+      ],
+      "yaw_degrees_local": -179.3966584958804,
+      "yaw_radians": -3.130037737792401,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6594836940655293,
+        8.558516202184256,
+        0.761475834664552
+      ],
+      "z_min": 0.7406097067634628,
+      "z_max": 0.7614472835200368
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.038111738821661,
+        8.84901275165298,
+        0.7471789267458943
+      ],
+      "rotation_wxyz": [
+        0.09956971033257417,
+        -0.00011352910931898906,
+        -0.0004982880267250556,
+        -0.9950304576265349
+      ],
+      "yaw_degrees_local": -168.62992285814914,
+      "yaw_radians": -2.9421228386792775,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.038111738821661,
+        8.84901275165298,
+        0.753791731029382
+      ],
+      "z_min": 0.740520503479738,
+      "z_max": 0.7537461120467135
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.821139782553078,
+        8.253689964083604,
+        0.7484430725660338
+      ],
+      "rotation_wxyz": [
+        0.31348615121937645,
+        -9.881661967966346e-05,
+        0.0005014130950776988,
+        0.9495926346670168
+      ],
+      "yaw_degrees_local": 143.40238805443187,
+      "yaw_radians": 2.50386874038371,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.821139782553078,
+        8.253689964083604,
+        0.7559829752091333
+      ],
+      "z_min": 0.741025088873122,
+      "z_max": 0.7561048941593209
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.8401481219360736,
+        8.661249709318307,
+        0.8186958600217982
+      ],
+      "rotation_wxyz": [
+        0.9295340057013493,
+        -0.000494741155092901,
+        -0.00012810544757212573,
+        -0.3687360452478005
+      ],
+      "yaw_degrees_local": -43.334090402659,
+      "yaw_radians": -0.7552976169328806,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8401481219360736,
+        8.661249709318307,
+        0.8966893844922964
+      ],
+      "z_min": 0.7407360582560384,
+      "z_max": 0.8967231071970349
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        2.7129674937606145,
+        8.274208813366599,
+        0.7498374882759774
+      ],
+      "rotation_wxyz": [
+        0.6738459670813985,
+        -0.0002949101196746662,
+        0.0004173821241425975,
+        0.7388716745608258
+      ],
+      "yaw_degrees_local": 95.21208209660574,
+      "yaw_radians": 1.6627891198682194,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7129674937606145,
+        8.274208813366599,
+        0.7586396113993714
+      ],
+      "z_min": 0.7410179842782225,
+      "z_max": 0.7586222305250107
+    }
+  ],
+  "variant_index": 116
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0119/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0119/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..5f065a6ae562803c0e8f772187215a3da59700e6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0119/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1139384134334828885
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.872464064, -0.000473398465, -0.000192545343, -0.488678009)
+            double3 xformOp:translate = (1.84833833799, 8.51290052232, 0.740885440342)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.959721455, -0.000504488575, -8.16767637e-05, -0.280952784)
+            double3 xformOp:translate = (2.22754920768, 8.26875092601, 0.741085018277)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.47425905, -0.000184731451, 0.000476501949, 0.880385196)
+            double3 xformOp:translate = (3.54507640084, 8.55978070558, 0.754951946163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.509613177, -0.000312940002, -0.000404040062, -0.86040348)
+            double3 xformOp:translate = (3.35926071512, 8.32770127813, 0.749048995451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.107593097, -0.000117544962, -0.000497356007, -0.994194882)
+            double3 xformOp:translate = (1.87364524383, 8.79887375939, 0.745845341083)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999913697, -0.000506240543, 7.0002346e-05, 0.0131277069)
+            double3 xformOp:translate = (2.22485852796, 8.91324731597, 0.777087260084)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.722854274, -0.000322795691, 0.000396210498, 0.691000317)
+            double3 xformOp:translate = (3.48261919064, 8.75394407692, 0.748446674809)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.782698669, -0.000357489566, 0.000365213672, 0.622400621)
+            double3 xformOp:translate = (2.34263959176, 8.35099526481, 0.771579038055)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.689370378, -0.000395482414, -0.000323687312, -0.724408877)
+            double3 xformOp:translate = (1.76712751256, 8.30082768938, 0.795020883076)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.610434313, -0.000259383123, 0.000440341018, 0.79206672)
+            double3 xformOp:translate = (2.75433853874, 8.22434512643, 0.787653569471)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995180367, -0.000498459685, 0.000112773041, 0.0980600658)
+            double3 xformOp:translate = (1.7549584256, 8.46350811052, 0.780293351566)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.923718926, -0.000444164876, 0.000252779309, 0.383070599)
+            double3 xformOp:translate = (2.56538578577, 8.22169126646, 0.793767894834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.805311231, -0.000445943675, -0.000249627833, -0.592852056)
+            double3 xformOp:translate = (3.19382825562, 8.58770617483, 0.771231111676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.316427704, -0.000220560908, -0.000461012692, -0.948616491)
+            double3 xformOp:translate = (3.67203765509, 8.29689169446, 0.757651041574)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.926657176, -0.000446108715, 0.000249332772, 0.375907193)
+            double3 xformOp:translate = (1.86254770497, 8.68574851467, 0.752508899048)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.141431345, -0.000134435832, -0.000493058641, -0.989947935)
+            double3 xformOp:translate = (3.27023511721, 8.19104491859, 0.777687290609)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.808969921, -0.000447482161, -0.000246859337, -0.587849815)
+            double3 xformOp:translate = (1.75903101469, 8.87476037147, 0.744850018587)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.295456844, -0.000210353199, -0.000465758895, -0.955355951)
+            double3 xformOp:translate = (1.94381248633, 8.23395532478, 0.871107489853)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.455463176, -0.000287370749, -0.000422608411, -0.890254477)
+            double3 xformOp:translate = (3.5476179209, 8.39891227932, 0.746038900672)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.640439546, -0.000373430863, -0.000348897129, -0.768008416)
+            double3 xformOp:translate = (3.31595308916, 8.8946355824, 0.752828886361)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999730662, -0.000505509497, 7.50996997e-05, 0.0232022255)
+            double3 xformOp:translate = (1.99459400402, 8.40909305859, 0.787184220051)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.267445324, 0, 0, 0.963573038)
+            double3 xformOp:translate = (4.94579287267, 8.14092303139, 0.930221721346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.737273573, -0.000331083938, 0.000389311241, 0.675594122)
+            double3 xformOp:translate = (3.6375109939, 8.72327996366, 0.752961938996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996851553, -0.000500496337, 0.000103359727, 0.0792888455)
+            double3 xformOp:translate = (1.69296718715, 8.2906567309, 0.74778895959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00288268088, -6.48121256e-05, -0.000506931164, -0.999995714)
+            double3 xformOp:translate = (3.16939784248, 8.43516152731, 0.799795367672)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999666286, -0.000505310544, 7.64268932e-05, 0.0258274076)
+            double3 xformOp:translate = (3.47918706492, 8.17386764372, 0.746962923801)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.577030973, -0.000344361403, -0.000377617585, -0.816722104)
+            double3 xformOp:translate = (1.87934257765, 8.39131791236, 0.7883279047)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977843018, -0.00050914153, -4.42122055e-05, -0.209338892)
+            double3 xformOp:translate = (3.01762445351, 8.23365363848, 0.788343591291)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999852843, -0.000508127622, 5.46455477e-05, -0.0171473081)
+            double3 xformOp:translate = (2.93675403229, 8.92479784012, 0.745693242889)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.178277879, -2.80718862e-05, 0.000510285984, 0.983980049)
+            double3 xformOp:translate = (3.3738767019, 8.53938201254, 0.747323721287)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0119/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0119/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b05891b5ffb5b4e2c011d6ab58557ebb0981c173
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0119/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1139384134334828885,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 3,
+    "stationery": 1,
+    "writing_instrument": 2,
+    "small electronic device": 2,
+    "electronics": 7,
+    "small_electronics": 1,
+    "office_supply": 3,
+    "small object": 3,
+    "decorative_object": 1
+  },
+  "failed_sampling_attempt_count": 235,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.8483383379904499,
+        8.512900522315006,
+        0.7408854403423595
+      ],
+      "rotation_wxyz": [
+        0.8724640635647203,
+        -0.00047339846543366756,
+        -0.00019254534314119696,
+        -0.4886780091310841
+      ],
+      "yaw_degrees_local": -58.56617466352175,
+      "yaw_radians": -1.0211476333390703,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8483383379904499,
+        8.512900522315006,
+        0.790885534219675
+      ],
+      "z_min": 0.7408854403423595,
+      "z_max": 0.8408856280969905
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.227549207682523,
+        8.268750926006447,
+        0.741085018276965
+      ],
+      "rotation_wxyz": [
+        0.9597214554699799,
+        -0.0005044885752122453,
+        -8.16767636517955e-05,
+        -0.2809527838103184
+      ],
+      "yaw_degrees_local": -32.69287089092069,
+      "yaw_radians": -0.569573345802433,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.227549207682523,
+        8.268750926006447,
+        0.8910850242374295
+      ],
+      "z_min": 0.741085018276965,
+      "z_max": 1.041085030197894
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        3.545076400840239,
+        8.559780705582513,
+        0.754951946163262
+      ],
+      "rotation_wxyz": [
+        0.47425904958602005,
+        -0.00018473145065999117,
+        0.0004765019489754138,
+        0.8803851956421967
+      ],
+      "yaw_degrees_local": 123.31904595993933,
+      "yaw_radians": 2.1533483305026477,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.545076400840239,
+        8.559780705582513,
+        0.7690482477956678
+      ],
+      "z_min": 0.7406229218232999,
+      "z_max": 0.7688155250881116
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.35926071511637,
+        8.327701278127574,
+        0.7490489954513516
+      ],
+      "rotation_wxyz": [
+        0.5096131771600757,
+        -0.00031294000187808584,
+        -0.0004040400617078165,
+        -0.8604034800516541
+      ],
+      "yaw_degrees_local": -118.78256735003461,
+      "yaw_radians": -2.072122382919696,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.35926071511637,
+        8.327701278127574,
+        0.7572850022034923
+      ],
+      "z_min": 0.7408818440831886,
+      "z_max": 0.75735385758747
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.8736452438310802,
+        8.798873759391304,
+        0.7458453410832387
+      ],
+      "rotation_wxyz": [
+        0.10759309671354705,
+        -0.00011754496243638297,
+        -0.0004973560073490034,
+        -0.9941948824852064
+      ],
+      "yaw_degrees_local": -167.7055355102152,
+      "yaw_radians": -2.925989242532647,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8736452438310802,
+        8.798873759391304,
+        0.7510812564013722
+      ],
+      "z_min": 0.7405921934141576,
+      "z_max": 0.7510640240504246
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.224858527961556,
+        8.91324731596776,
+        0.7770872600838734
+      ],
+      "rotation_wxyz": [
+        0.9999136973412709,
+        -0.0005062405434127405,
+        7.000234599987214e-05,
+        0.013127706939651259
+      ],
+      "yaw_degrees_local": 1.4456573935883057,
+      "yaw_radians": 0.026256094044179612,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.224858527961556,
+        8.91324731596776,
+        0.8136974731530521
+      ],
+      "z_min": 0.7404317093595887,
+      "z_max": 0.813652135497946
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.4826191906437924,
+        8.753944076916985,
+        0.7484466748091391
+      ],
+      "rotation_wxyz": [
+        0.7228542739636722,
+        -0.00032279569064061107,
+        0.00039621049751888636,
+        0.691000316521372
+      ],
+      "yaw_degrees_local": 87.35999356185408,
+      "yaw_radians": 1.5257442535089611,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4826191906437924,
+        8.753944076916985,
+        0.756276013993957
+      ],
+      "z_min": 0.7404339051835763,
+      "z_max": 0.7560925835532123
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.3426395917566674,
+        8.350995264807747,
+        0.7715790380549445
+      ],
+      "rotation_wxyz": [
+        0.7826986686676408,
+        -0.00035748956609972266,
+        0.0003652136722114119,
+        0.6224006208914695
+      ],
+      "yaw_degrees_local": 76.92460796011085,
+      "yaw_radians": 1.3436123214565994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3426395917566674,
+        8.350995264807747,
+        0.8021814395603373
+      ],
+      "z_min": 0.740987037321569,
+      "z_max": 0.8021918403323546
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        1.767127512557574,
+        8.30082768938298,
+        0.7950208830763053
+      ],
+      "rotation_wxyz": [
+        0.6893703776475583,
+        -0.00039548241446306213,
+        -0.0003236873122177934,
+        -0.7244088771144698
+      ],
+      "yaw_degrees_local": -92.89811728351738,
+      "yaw_radians": -1.620353286493003,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.767127512557574,
+        8.30082768938298,
+        0.8489410853697035
+      ],
+      "z_min": 0.7411108490964791,
+      "z_max": 0.8489512536832754
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.7543385387371533,
+        8.224345126432334,
+        0.7876535694708575
+      ],
+      "rotation_wxyz": [
+        0.6104343125806425,
+        -0.0002593831228205474,
+        0.00044034101766264453,
+        0.7920667199449694
+      ],
+      "yaw_degrees_local": 104.69945160660029,
+      "yaw_radians": 1.8283750263236818,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7543385387371533,
+        8.224345126432334,
+        0.8342351727367755
+      ],
+      "z_min": 0.7410633356061574,
+      "z_max": 0.8342265421379934
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.7549584256032436,
+        8.463508110523236,
+        0.780293351565931
+      ],
+      "rotation_wxyz": [
+        0.9951803667245999,
+        -0.0004984596848221012,
+        0.00011277304131468743,
+        0.09806006580700911
+      ],
+      "yaw_degrees_local": 11.196233763586974,
+      "yaw_radians": 0.19643567684403213,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7549584256032436,
+        8.463508110523236,
+        0.8196422108918069
+      ],
+      "z_min": 0.7409473876079947,
+      "z_max": 0.8196451062597464
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        2.5653857857742968,
+        8.22169126646481,
+        0.7937678948341447
+      ],
+      "rotation_wxyz": [
+        0.9237189263708563,
+        -0.0004441648759301141,
+        0.00025277930933978546,
+        0.38307059908645635
+      ],
+      "yaw_degrees_local": 44.98932141027777,
+      "yaw_radians": 0.7862362239234738,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5653857857742968,
+        8.22169126646481,
+        0.8463169236933628
+      ],
+      "z_min": 0.7410899709418021,
+      "z_max": 0.8461880286602383
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.193828255624787,
+        8.587706174829856,
+        0.7712311116758662
+      ],
+      "rotation_wxyz": [
+        0.8053112311986097,
+        -0.00044594367510789404,
+        -0.00024962783272619604,
+        -0.592852055512641
+      ],
+      "yaw_degrees_local": -72.77804345000635,
+      "yaw_radians": -1.2691915947169405,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.193828255624787,
+        8.587706174829856,
+        0.801833513181259
+      ],
+      "z_min": 0.7406391109424907,
+      "z_max": 0.8018439139532763
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        3.6720376550858185,
+        8.296891694457264,
+        0.7576510415739759
+      ],
+      "rotation_wxyz": [
+        0.31642770436930145,
+        -0.00022056090830484065,
+        -0.0004610126917646154,
+        -0.9486164908580063
+      ],
+      "yaw_degrees_local": -143.16465635780824,
+      "yaw_radians": -2.4976701968340365,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6720376550858185,
+        8.296891694457264,
+        0.7746020567663814
+      ],
+      "z_min": 0.7408734674633236,
+      "z_max": 0.7747754978481345
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        1.8625477049733385,
+        8.685748514669363,
+        0.7525088990475909
+      ],
+      "rotation_wxyz": [
+        0.9266571755117475,
+        -0.00044610871461081526,
+        0.0002493327715896946,
+        0.3759071931910513
+      ],
+      "yaw_degrees_local": 44.10208367749493,
+      "yaw_radians": 0.7707510023570929,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8625477049733385,
+        8.685748514669363,
+        0.7643801695941607
+      ],
+      "z_min": 0.7407083381681415,
+      "z_max": 0.764450879261281
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.270235117212684,
+        8.191044918587336,
+        0.7776872906087599
+      ],
+      "rotation_wxyz": [
+        0.1414313449860599,
+        -0.00013443583161735915,
+        -0.0004930586409522316,
+        -0.98994793472971
+      ],
+      "yaw_degrees_local": -163.79734732501686,
+      "yaw_radians": -2.85777851701271,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.270235117212684,
+        8.191044918587336,
+        0.8142975036779385
+      ],
+      "z_min": 0.7410317398844751,
+      "z_max": 0.8142521660228325
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.7590310146940529,
+        8.87476037147081,
+        0.7448500185867717
+      ],
+      "rotation_wxyz": [
+        0.8089699212093547,
+        -0.0004474821605569971,
+        -0.00024685933691791874,
+        -0.5878498153429279
+      ],
+      "yaw_degrees_local": -72.06786645993299,
+      "yaw_radians": -1.256796663764548,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7590310146940529,
+        8.87476037147081,
+        0.7489866199468987
+      ],
+      "z_min": 0.7405297480343043,
+      "z_max": 0.7488029507545584
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.943812486329047,
+        8.233955324778785,
+        0.8711074898527735
+      ],
+      "rotation_wxyz": [
+        0.2954568436743079,
+        -0.00021035319866895367,
+        -0.00046575889476214224,
+        -0.9553559505996703
+      ],
+      "yaw_degrees_local": -145.68883832594267,
+      "yaw_radians": -2.541725481294593,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.943812486329047,
+        8.233955324778785,
+        1.0012746393675427
+      ],
+      "z_min": 0.7411563267371373,
+      "z_max": 1.0014906257666756
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.547617920899341,
+        8.398912279321806,
+        0.7460389006723055
+      ],
+      "rotation_wxyz": [
+        0.4554631760971581,
+        -0.0002873707492020896,
+        -0.00042260841063961605,
+        -0.8902544771241946
+      ],
+      "yaw_degrees_local": -125.86922325713975,
+      "yaw_radians": -2.1958079026252073,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.547617920899341,
+        8.398912279321806,
+        0.751274815990439
+      ],
+      "z_min": 0.7407857530032244,
+      "z_max": 0.7512575836394914
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.3159530891580404,
+        8.89463558240006,
+        0.7528288863605056
+      ],
+      "rotation_wxyz": [
+        0.6404395456689947,
+        -0.00037343086331128244,
+        -0.0003488971289175406,
+        -0.768008416075941
+      ],
+      "yaw_degrees_local": -100.40949168901822,
+      "yaw_radians": -1.7514515694919925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3159530891580404,
+        8.89463558240006,
+        0.765397552619535
+      ],
+      "z_min": 0.740312330466023,
+      "z_max": 0.7654496629840817
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        1.99459400401705,
+        8.40909305859107,
+        0.7871842200510949
+      ],
+      "rotation_wxyz": [
+        0.9997306615046421,
+        -0.0005055094967921414,
+        7.509969968827205e-05,
+        0.023202225489694698
+      ],
+      "yaw_degrees_local": 2.6003077335694798,
+      "yaw_radians": 0.046408534198421225,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.99459400401705,
+        8.40909305859107,
+        0.8333768199571774
+      ],
+      "z_min": 0.7409722185948641,
+      "z_max": 0.8333574184070289
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        4.945792872665834,
+        8.140923031393942,
+        0.9302217213458339
+      ],
+      "rotation_wxyz": [
+        0.26744532391408277,
+        0.0,
+        0.0,
+        0.9635730375620166
+      ],
+      "yaw_degrees_local": 58.9753897549825,
+      "yaw_radians": 2.600111055666273,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.945792872665834,
+        8.140923031393942,
+        0.9402590723266526
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9402747308579692
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_001_remote_control_white_black_ca22a597/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05804993396383776,
+        0.16500917597964293,
+        0.025137332518058796
+      ],
+      "bbox_min_m": [
+        -0.029015630765926337,
+        -0.08244235869777466,
+        -0.012516555894482627
+      ],
+      "bbox_max_m": [
+        0.029034303197911424,
+        0.08256681728186831,
+        0.012620776623576106
+      ],
+      "translation_world": [
+        3.637510993898238,
+        8.723279963663913,
+        0.7529619389959927
+      ],
+      "rotation_wxyz": [
+        0.7372735727119253,
+        -0.0003310839379067154,
+        0.0003893112409120688,
+        0.6755941220886823
+      ],
+      "yaw_degrees_local": 84.94191170298956,
+      "yaw_radians": 1.4835407415989155,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.637510993898238,
+        8.723279963663913,
+        0.7655306052550221
+      ],
+      "z_min": 0.7404453831015101,
+      "z_max": 0.7655827156195688
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        1.6929671871518002,
+        8.290656730901503,
+        0.7477889595899745
+      ],
+      "rotation_wxyz": [
+        0.9968515525356944,
+        -0.0005004963368217507,
+        0.00010335972652983029,
+        0.07928884554185353
+      ],
+      "yaw_degrees_local": 9.036670244226286,
+      "yaw_radians": 0.15874419922935054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6929671871518002,
+        8.290656730901503,
+        0.7544017638734622
+      ],
+      "z_min": 0.7411305363238182,
+      "z_max": 0.7543561448907937
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.1693978424825597,
+        8.435161527312498,
+        0.799795367672293
+      ],
+      "rotation_wxyz": [
+        0.002882680877273373,
+        -6.481212564164795e-05,
+        -0.0005069311635815299,
+        -0.9999957144763889
+      ],
+      "yaw_degrees_local": -179.72837902272258,
+      "yaw_radians": -3.1358273502642695,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1693978424825597,
+        8.435161527312498,
+        0.8589216457048131
+      ],
+      "z_min": 0.7407969368315869,
+      "z_max": 0.8590494928966271
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.4791870649154752,
+        8.173867643724854,
+        0.7469629238013428
+      ],
+      "rotation_wxyz": [
+        0.9996662862365098,
+        -0.000505310544353869,
+        7.642689320592135e-05,
+        0.025827407579714745
+      ],
+      "yaw_degrees_local": 2.901222002640651,
+      "yaw_radians": 0.05166047637972077,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4791870649154752,
+        8.173867643724854,
+        0.7527801365679151
+      ],
+      "z_min": 0.7410226711390331,
+      "z_max": 0.7526570966721777
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.879342577654183,
+        8.391317912357326,
+        0.7883279047001012
+      ],
+      "rotation_wxyz": [
+        0.5770309725961698,
+        -0.0003443614027699611,
+        -0.00037761758502831574,
+        -0.8167221041975676
+      ],
+      "yaw_degrees_local": -109.57472610408328,
+      "yaw_radians": -1.9114151668796913,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.879342577654183,
+        8.391317912357326,
+        0.8356940313613561
+      ],
+      "z_min": 0.7410048497853514,
+      "z_max": 0.8357371031078614
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.0176244535073318,
+        8.233653638482483,
+        0.7883435912908675
+      ],
+      "rotation_wxyz": [
+        0.9778430176835544,
+        -0.0005091415295652192,
+        -4.4212205467514127e-05,
+        -0.20933889172273715
+      ],
+      "yaw_degrees_local": -24.22593849096856,
+      "yaw_radians": -0.4217975545301336,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0176244535073318,
+        8.233653638482483,
+        0.8357097179521225
+      ],
+      "z_min": 0.7410205363761178,
+      "z_max": 0.8357527896986278
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.9367540322855916,
+        8.924797840121794,
+        0.7456932428893868
+      ],
+      "rotation_wxyz": [
+        0.9998528434956844,
+        -0.0005081276221163934,
+        5.464554769285757e-05,
+        -0.01714730806215513
+      ],
+      "yaw_degrees_local": -2.0237437443729505,
+      "yaw_radians": -0.034296348184771445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9367540322855916,
+        8.924797840121794,
+        0.7510286835843876
+      ],
+      "z_min": 0.7403297801425767,
+      "z_max": 0.7510006615325783
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.3738767018998272,
+        8.539382012543989,
+        0.7473237212871686
+      ],
+      "rotation_wxyz": [
+        0.1782778794023169,
+        -2.8071886241966975e-05,
+        0.0005102859839767605,
+        0.9839800488505837
+      ],
+      "yaw_degrees_local": 159.40235247995872,
+      "yaw_radians": 2.783120694229847,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3738767018998272,
+        8.539382012543989,
+        0.7539365255706564
+      ],
+      "z_min": 0.7406652980210123,
+      "z_max": 0.7538909065879879
+    }
+  ],
+  "variant_index": 119
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0120/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0120/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..30936e40b82d595c37f6fce4c29c19e720c05826
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0120/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7032801004406966339
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.947582987, -0.000500775543, -0.000101998389, -0.319509345)
+            double3 xformOp:translate = (3.53096452334, 8.42998971052, 0.740756337538)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.954183446, -0.000464925787, 0.000212188193, 0.299221807)
+            double3 xformOp:translate = (3.39807081478, 8.27982909584, 0.740925473047)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999721799, -0.000508468746, 5.13746115e-05, -0.0235810131)
+            double3 xformOp:translate = (3.66312558971, 8.2411614078, 0.756136796377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.120204371, -0.000123848746, -0.000495823864, -0.992749036)
+            double3 xformOp:translate = (3.14877905921, 8.82815857816, 0.787924756363)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.155740392, -0.000141555971, -0.000491061832, -0.987797889)
+            double3 xformOp:translate = (2.00049200135, 8.36774662685, 0.746703185756)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.81315715, -0.000375492164, 0.000346677734, 0.582043974)
+            double3 xformOp:translate = (1.86178526038, 8.46065695421, 0.757714306585)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506866626, -0.000311649864, -0.000405036021, -0.86202434)
+            double3 xformOp:translate = (1.81967021408, 8.23687559583, 0.748150033233)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.975945098, -0.000508728753, -4.87326559e-05, -0.218015835)
+            double3 xformOp:translate = (1.97840058908, 8.61571460607, 0.752572068818)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.690728719, -0.000304469902, 0.000410460589, 0.723113806)
+            double3 xformOp:translate = (2.75436084014, 8.28656694894, 0.801674723565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.77490008, 0, 0, -0.632083749)
+            double3 xformOp:translate = (4.97160217721, 8.39568512043, 0.923753596343)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.604631597, -0.000357077361, -0.000365616704, -0.796505098)
+            double3 xformOp:translate = (3.46335611152, 8.80320134678, 0.870337614341)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.850146105, 0, 0, -0.526546865)
+            double3 xformOp:translate = (4.92308673459, 8.12415198238, 0.959557102411)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.253877746, -0.000190020394, -0.000474417607, -0.967236181)
+            double3 xformOp:translate = (2.35711244729, 8.21599358854, 0.745442383468)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.292105029, -8.75435413e-05, 0.000503503669, 0.95638611)
+            double3 xformOp:translate = (2.63330587464, 8.23454423906, 0.744621871278)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.142983286, -9.80949066e-06, 0.000510963394, 0.989724971)
+            double3 xformOp:translate = (3.36810575868, 8.54431813537, 0.750682717038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.504895958, -0.000310723723, -0.000405746946, -0.863180057)
+            double3 xformOp:translate = (2.16496808063, 8.34600165006, 0.780360581717)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.60020993, -0.000253705585, 0.000443636441, 0.799842346)
+            double3 xformOp:translate = (1.84005179571, 8.73013994249, 0.748362351789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.918049793, -0.00044044144, 0.000259212566, 0.396464772)
+            double3 xformOp:translate = (2.37980549383, 8.82425087881, 0.817869879089)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999626952, -0.000505196838, 7.71749405e-05, 0.0273074224)
+            double3 xformOp:translate = (3.50257166171, 8.66362307837, 0.752330364322)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.961926972, -0.000470494424, 0.000199536495, 0.273306127)
+            double3 xformOp:translate = (3.01237775351, 8.28258242453, 0.786984182143)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.840677591, -0.000392014439, 0.000327878782, 0.541535711)
+            double3 xformOp:translate = (3.68172121936, 8.89823268469, 0.786852590601)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.852349407, -0.000465370576, -0.000211210897, -0.522972492)
+            double3 xformOp:translate = (3.29656792703, 8.37538756459, 0.78685404897)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.640366838, -0.00027608265, 0.000430067654, 0.768069041)
+            double3 xformOp:translate = (1.711184057, 8.81663650428, 0.746245198358)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976485584, -0.000481534177, 0.000171186017, 0.215582104)
+            double3 xformOp:translate = (1.71099482806, 8.59276645632, 0.810993548114)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.16322905, -0.000145276946, -0.000489973902, -0.986588068)
+            double3 xformOp:translate = (3.53223199593, 8.88072852582, 0.774368686743)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.716862613, -0.000407701372, -0.000308154843, -0.697214266)
+            double3 xformOp:translate = (3.36729694522, 8.82495482839, 0.796536440572)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.962741595, -0.000471090208, 0.000198125798, 0.27042256)
+            double3 xformOp:translate = (1.89844124199, 8.88003432477, 0.787929807678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970523874, -0.000476900379, 0.000183700422, 0.241004459)
+            double3 xformOp:translate = (2.9125121418, 8.25121114892, 0.750049936411)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.435316145, -0.000163722694, 0.000484122604, 0.900277509)
+            double3 xformOp:translate = (3.69337747195, 8.8069274593, 0.817721018017)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.111954659, -0.000119726264, -0.000496835423, -0.993713185)
+            double3 xformOp:translate = (3.14784751056, 8.31782253773, 0.749085801078)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0120/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0120/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb3d87a0e4d009a729fe1e93727b5b0ea204a80a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0120/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7032801004406966339,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small object": 6,
+    "office_supplies": 1,
+    "book": 4,
+    "office_supply": 3,
+    "electronics": 5,
+    "paper_goods": 2,
+    "writing_instrument": 1,
+    "stationery": 1
+  },
+  "failed_sampling_attempt_count": 158,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.530964523344065,
+        8.429989710522051,
+        0.74075633753767
+      ],
+      "rotation_wxyz": [
+        0.9475829870988786,
+        -0.0005007755433140647,
+        -0.00010199838949128499,
+        -0.31950934474745885
+      ],
+      "yaw_degrees_local": -37.325224940186075,
+      "yaw_radians": -0.6504231522821508,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.530964523344065,
+        8.429989710522051,
+        0.763253349251453
+      ],
+      "z_min": 0.7407563405326045,
+      "z_max": 0.7857503639601706
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.3980708147837886,
+        8.279829095843139,
+        0.7409254730466229
+      ],
+      "rotation_wxyz": [
+        0.9541834460678952,
+        -0.00046492578650150643,
+        0.00021218819308874913,
+        0.2992218074776306
+      ],
+      "yaw_degrees_local": 34.76303243786191,
+      "yaw_radians": 0.6077538044459495,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3980708147837886,
+        8.279829095843139,
+        0.763422484760406
+      ],
+      "z_min": 0.7409254760415575,
+      "z_max": 0.7859194994691235
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        3.6631255897109822,
+        8.24116140779711,
+        0.7561367963765445
+      ],
+      "rotation_wxyz": [
+        0.9997217986230522,
+        -0.0005084687458814024,
+        5.137461145455428e-05,
+        -0.02358101308411986
+      ],
+      "yaw_degrees_local": -2.761146319036982,
+      "yaw_radians": -0.047166444396338936,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6631255897109822,
+        8.24116140779711,
+        0.771305273329076
+      ],
+      "z_min": 0.7409311192608812,
+      "z_max": 0.771268073165944
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.148779059208842,
+        8.828158578163189,
+        0.7879247563629147
+      ],
+      "rotation_wxyz": [
+        0.1202043714103561,
+        -0.00012384874588474277,
+        -0.0004958238642734827,
+        -0.9927490357154849
+      ],
+      "yaw_degrees_local": -166.25091345470815,
+      "yaw_radians": -2.900601308389732,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.148779059208842,
+        8.828158578163189,
+        0.8354482335631584
+      ],
+      "z_min": 0.7404009530060571,
+      "z_max": 0.8354479074065447
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.0004920013498713,
+        8.367746626845458,
+        0.7467031857556415
+      ],
+      "rotation_wxyz": [
+        0.1557403916445478,
+        -0.0001415559709215296,
+        -0.0004910618324984906,
+        -0.9877978888571219
+      ],
+      "yaw_degrees_local": -162.1392299513779,
+      "yaw_radians": -2.828838919488904,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0004920013498713,
+        8.367746626845458,
+        0.7525342367804277
+      ],
+      "z_min": 0.7410133850263169,
+      "z_max": 0.7526754870758893
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.8617852603841911,
+        8.460656954209012,
+        0.7577143065846443
+      ],
+      "rotation_wxyz": [
+        0.8131571502548472,
+        -0.00037549216362877736,
+        0.0003466777340610327,
+        0.5820439741201688
+      ],
+      "yaw_degrees_local": 71.13016764442978,
+      "yaw_radians": 1.2424802093651628,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8617852603841911,
+        8.460656954209012,
+        0.7746653217770498
+      ],
+      "z_min": 0.740936732473992,
+      "z_max": 0.7748387628588029
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.8196702140818206,
+        8.236875595828796,
+        0.7481500332334574
+      ],
+      "rotation_wxyz": [
+        0.5068666258544248,
+        -0.00031164986423289315,
+        -0.00040503602106964744,
+        -0.8620243398043553
+      ],
+      "yaw_degrees_local": -119.14801816971736,
+      "yaw_radians": -2.078500705391166,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8196702140818206,
+        8.236875595828796,
+        0.755133314042298
+      ],
+      "z_min": 0.7411690296345756,
+      "z_max": 0.7551355912522568
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        1.978400589075764,
+        8.615714606067915,
+        0.7525720688184937
+      ],
+      "rotation_wxyz": [
+        0.975945098163615,
+        -0.0005087287533494838,
+        -4.873265594847778e-05,
+        -0.2180158347244443
+      ],
+      "yaw_degrees_local": -25.243753965621693,
+      "yaw_radians": -0.4395617781501227,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.978400589075764,
+        8.615714606067915,
+        0.7642593937711604
+      ],
+      "z_min": 0.7407646901250946,
+      "z_max": 0.7641393400304279
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.7543608401416315,
+        8.286566948940832,
+        0.8016747235651548
+      ],
+      "rotation_wxyz": [
+        0.6907287185577441,
+        -0.0003044699018847031,
+        0.00041046058895664005,
+        0.7231138058284883
+      ],
+      "yaw_degrees_local": 92.56563334617522,
+      "yaw_radians": 1.6165998533469161,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7543608401416315,
+        8.286566948940832,
+        0.8623015900204144
+      ],
+      "z_min": 0.7410002327630725,
+      "z_max": 0.8622539656735917
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        4.97160217720774,
+        8.395685120428702,
+        0.9237535963430353
+      ],
+      "rotation_wxyz": [
+        0.7749000798735767,
+        0.0,
+        0.0,
+        -0.6320837493654813
+      ],
+      "yaw_degrees_local": -168.40805130066974,
+      "yaw_radians": -1.3684786552693096,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.97160217720774,
+        8.395685120428702,
+        0.9273286569192551
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9273501500487714
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.4633561115173084,
+        8.803201346782455,
+        0.870337614340581
+      ],
+      "rotation_wxyz": [
+        0.6046315970290856,
+        -0.0003570773614705063,
+        -0.00036561670389298955,
+        -0.796505097720185
+      ],
+      "yaw_degrees_local": -105.6540259900394,
+      "yaw_radians": -1.8429860075328948,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4633561115173084,
+        8.803201346782455,
+        1.0005047638553501
+      ],
+      "z_min": 0.7403864512249447,
+      "z_max": 1.000720750254483
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        4.923086734592084,
+        8.12415198238287,
+        0.9595571024107423
+      ],
+      "rotation_wxyz": [
+        0.8501461046169083,
+        0.0,
+        0.0,
+        -0.5265468647752989
+      ],
+      "yaw_degrees_local": -153.54487183697367,
+      "yaw_radians": -1.1090672363130079,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.923086734592084,
+        8.12415198238287,
+        0.9987971772506335
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 0.9986801785761142
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.3571124472891896,
+        8.21599358854066,
+        0.7454423834677961
+      ],
+      "rotation_wxyz": [
+        0.2538777455723482,
+        -0.00019002039360676502,
+        -0.00047441760744500487,
+        -0.9672361806318486
+      ],
+      "yaw_degrees_local": -150.64451351850965,
+      "yaw_radians": -2.6282183207020533,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3571124472891896,
+        8.21599358854066,
+        0.7495789848279232
+      ],
+      "z_min": 0.7411221129153287,
+      "z_max": 0.7493953156355828
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.63330587463645,
+        8.234544239057877,
+        0.744621871278175
+      ],
+      "rotation_wxyz": [
+        0.29210502940976457,
+        -8.754354131807633e-05,
+        0.0005035036689179165,
+        0.9563861095884363
+      ],
+      "yaw_degrees_local": 145.97323867090796,
+      "yaw_radians": 2.5487385352062537,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.63330587463645,
+        8.234544239057877,
+        0.7481969318543948
+      ],
+      "z_min": 0.7410683038314715,
+      "z_max": 0.7482184249839111
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.3681057586835927,
+        8.544318135368425,
+        0.7506827170377227
+      ],
+      "rotation_wxyz": [
+        0.1429832857361537,
+        -9.809490664214527e-06,
+        0.0005109633941225353,
+        0.9897249713027743
+      ],
+      "yaw_degrees_local": 163.50026117602602,
+      "yaw_radians": 2.854642658995204,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3681057586835927,
+        8.544318135368425,
+        0.7607200680185414
+      ],
+      "z_min": 0.7406610245882206,
+      "z_max": 0.760735726549858
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.164968080631888,
+        8.346001650063057,
+        0.7803605817165058
+      ],
+      "rotation_wxyz": [
+        0.5048959582136603,
+        -0.0003107237225183588,
+        -0.0004057469463897992,
+        -0.863180056650809
+      ],
+      "yaw_degrees_local": -119.4098095024126,
+      "yaw_radians": -2.0830698278109723,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.164968080631888,
+        8.346001650063057,
+        0.8197094410423816
+      ],
+      "z_min": 0.7410146177585695,
+      "z_max": 0.8197123364103212
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        1.8400517957114468,
+        8.73013994249347,
+        0.7483623517888117
+      ],
+      "rotation_wxyz": [
+        0.6002099303925592,
+        -0.00025370558533936385,
+        0.0004436364414787444,
+        0.799842345889703
+      ],
+      "yaw_degrees_local": 106.17140978582586,
+      "yaw_radians": 1.8540655524528347,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8400517957114468,
+        8.73013994249347,
+        0.7562172581326123
+      ],
+      "z_min": 0.7406661630665914,
+      "z_max": 0.7563759757541926
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.379805493828925,
+        8.82425087880705,
+        0.8178698790893307
+      ],
+      "rotation_wxyz": [
+        0.9180497933308523,
+        -0.00044044143994367136,
+        0.0002592125657074864,
+        0.39646477243932204
+      ],
+      "yaw_degrees_local": 46.65601509660965,
+      "yaw_radians": 0.8153255205609544,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.379805493828925,
+        8.82425087880705,
+        0.8952516342226702
+      ],
+      "z_min": 0.7405023617219474,
+      "z_max": 0.8952658719886263
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.5025716617069076,
+        8.663623078374702,
+        0.7523303643217026
+      ],
+      "rotation_wxyz": [
+        0.9996269521684792,
+        -0.0005051968376763793,
+        7.71749405059617e-05,
+        0.027307422407486712
+      ],
+      "yaw_degrees_local": 3.070879131728816,
+      "yaw_radians": 0.0546215504314056,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5025716617069076,
+        8.663623078374702,
+        0.7640176892743693
+      ],
+      "z_min": 0.7405229856283035,
+      "z_max": 0.7638976355336369
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.012377753514814,
+        8.28258242453042,
+        0.7869841821427667
+      ],
+      "rotation_wxyz": [
+        0.961926972031248,
+        -0.00047049442449452456,
+        0.00019953649480703705,
+        0.273306127444993
+      ],
+      "yaw_degrees_local": 31.663485473557387,
+      "yaw_radians": 0.5536565091215577,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.012377753514814,
+        8.28258242453042,
+        0.8331825966436465
+      ],
+      "z_min": 0.7409715753051499,
+      "z_max": 0.8333684043069096
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.681721219361392,
+        8.89823268469054,
+        0.7868525906006485
+      ],
+      "rotation_wxyz": [
+        0.8406775912953661,
+        -0.0003920144388931514,
+        0.0003278787823870282,
+        0.5415357110237562
+      ],
+      "yaw_degrees_local": 65.51778454332842,
+      "yaw_radians": 1.1445256006841424,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.681721219361392,
+        8.89823268469054,
+        0.8334341938665665
+      ],
+      "z_min": 0.7402623567359484,
+      "z_max": 0.8334255632677844
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.296567927031141,
+        8.375387564587175,
+        0.7868540489700994
+      ],
+      "rotation_wxyz": [
+        0.8523494071908311,
+        -0.0004653705763358404,
+        -0.0002112108967860333,
+        -0.5229724915152066
+      ],
+      "yaw_degrees_local": -63.122424394735134,
+      "yaw_radians": -1.1006692050520532,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.296567927031141,
+        8.375387564587175,
+        0.8330524634709792
+      ],
+      "z_min": 0.7408414421324826,
+      "z_max": 0.8332382711342423
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.7111840570038521,
+        8.81663650427697,
+        0.7462451983584457
+      ],
+      "rotation_wxyz": [
+        0.6403668377405969,
+        -0.00027608264993927094,
+        0.00043006765356490436,
+        0.7680690411299573
+      ],
+      "yaw_degrees_local": 100.30291889050716,
+      "yaw_radians": 1.7516410237960898,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7111840570038521,
+        8.81663650427697,
+        0.7518940495717278
+      ],
+      "z_min": 0.7405947620886588,
+      "z_max": 0.7518924645152231
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        1.7109948280608722,
+        8.592766456323963,
+        0.8109935481138895
+      ],
+      "rotation_wxyz": [
+        0.9764855838295147,
+        -0.0004815341771309754,
+        0.00017118601723010838,
+        0.21558210360165767
+      ],
+      "yaw_degrees_local": 24.8406534338381,
+      "yaw_radians": 0.4345756460617331,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7109948280608722,
+        8.592766456323963,
+        0.8811699143458083
+      ],
+      "z_min": 0.7408218759736693,
+      "z_max": 0.8811746084375071
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.532231995932411,
+        8.880728525823521,
+        0.774368686742579
+      ],
+      "rotation_wxyz": [
+        0.1632290501758364,
+        -0.00014527694634707743,
+        -0.0004899739024686734,
+        -0.9865880680399891
+      ],
+      "yaw_degrees_local": -161.26996430646926,
+      "yaw_radians": -2.8136673769033695,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.532231995932411,
+        8.880728525823521,
+        0.8083672429132578
+      ],
+      "z_min": 0.7402990439289532,
+      "z_max": 0.8082961562703108
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.367296945224723,
+        8.824954828392686,
+        0.7965364405722988
+      ],
+      "rotation_wxyz": [
+        0.7168626132359134,
+        -0.00040770137239705585,
+        -0.0003081548428726535,
+        -0.6972142658930334
+      ],
+      "yaw_degrees_local": -88.46658349463935,
+      "yaw_radians": -1.5430083916356494,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.367296945224723,
+        8.824954828392686,
+        0.8527187203821914
+      ],
+      "z_min": 0.7403765204023346,
+      "z_max": 0.8527410800221199
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.8984412419875472,
+        8.880034324767319,
+        0.7879298076777654
+      ],
+      "rotation_wxyz": [
+        0.9627415945730664,
+        -0.0004710902081558977,
+        0.00019812579847143974,
+        0.27042255989301905
+      ],
+      "yaw_degrees_local": 31.320120117218323,
+      "yaw_radians": 0.5476636538021068,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8984412419875472,
+        8.880034324767319,
+        0.8353823334167458
+      ],
+      "z_min": 0.7405067581043369,
+      "z_max": 0.8354118095822978
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        2.9125121417961335,
+        8.251211148919161,
+        0.7500499364108266
+      ],
+      "rotation_wxyz": [
+        0.9705238736645098,
+        -0.0004769003787166248,
+        0.00018370042193814503,
+        0.24100445943471405
+      ],
+      "yaw_degrees_local": 27.83295718421104,
+      "yaw_radians": 0.48680118808519873,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9125121417961335,
+        8.251211148919161,
+        0.7588831825143089
+      ],
+      "z_min": 0.7410160268310273,
+      "z_max": 0.7586825190379918
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.693377471953123,
+        8.806927459301138,
+        0.81772101801744
+      ],
+      "rotation_wxyz": [
+        0.43531614503374855,
+        -0.00016372269353152565,
+        0.0004841226041645801,
+        0.9002775087122529
+      ],
+      "yaw_degrees_local": 128.33045758170925,
+      "yaw_radians": 2.240813966651652,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.693377471953123,
+        8.806927459301138,
+        0.8951027731507795
+      ],
+      "z_min": 0.7403535006500567,
+      "z_max": 0.8951170109167356
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.1478475105595574,
+        8.317822537733997,
+        0.7490858010776189
+      ],
+      "rotation_wxyz": [
+        0.11195465888454001,
+        -0.00011972626438216881,
+        -0.000496835423311788,
+        -0.9937131845629453
+      ],
+      "yaw_degrees_local": -167.20269796428641,
+      "yaw_radians": -2.9172130752933834,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1478475105595574,
+        8.317822537733997,
+        0.7573218078297597
+      ],
+      "z_min": 0.7409186497094559,
+      "z_max": 0.7573906632137373
+    }
+  ],
+  "variant_index": 120
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0122/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0122/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..3c3dd97aae43b3c0cb679480ea30f0a9025667cb
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0122/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6722433182986906232
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.806296536, -0.000371413275, 0.00035104415, 0.591511315)
+            double3 xformOp:translate = (1.77916082694, 8.38505500914, 0.741023870244)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.301289996, -9.23821673e-05, 0.00050263839, 0.953532421)
+            double3 xformOp:translate = (3.48599927852, 8.8428182173, 0.740343330729)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.262450203, -0.000194222501, -0.000472712847, -0.964945403)
+            double3 xformOp:translate = (1.83548169047, 8.82734444405, 0.826955452318)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.320838831, -0.000222703923, -0.000459981281, -0.947133667)
+            double3 xformOp:translate = (2.57231487228, 8.86935333839, 0.774501846399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.782019676, -0.000357091205, 0.000365603183, 0.623253533)
+            double3 xformOp:translate = (2.37712579139, 8.35471408955, 0.775585687677)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.507046414, -0.000311734339, -0.000404971009, -0.8619186)
+            double3 xformOp:translate = (3.75036956159, 8.3025598885, 0.78843761306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993085261, -0.00051104637, 3.380008e-06, -0.117394222)
+            double3 xformOp:translate = (1.94161776226, 8.90857597695, 0.788052142923)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.532110041, -0.000216204167, 0.000463071889, 0.846675052)
+            double3 xformOp:translate = (3.71002920689, 8.88229279842, 0.765301629194)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999657336, -0.000508600167, 5.00568278e-05, -0.0261715446)
+            double3 xformOp:translate = (2.81384519677, 8.23481097293, 0.746695596132)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.626161201, -0.000366930341, -0.000355727341, -0.779693458)
+            double3 xformOp:translate = (3.02055003956, 8.22501789966, 0.753539298296)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.142390611, -0.000134913579, -0.000492928131, -0.989810413)
+            double3 xformOp:translate = (3.49527646678, 8.49897660323, 0.740690893523)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998780785, -0.00050962483, 3.82406654e-05, -0.0493627542)
+            double3 xformOp:translate = (3.43878418368, 8.68238110199, 0.774581697025)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.610367139, -0.000359708052, -0.000363028833, -0.792118485)
+            double3 xformOp:translate = (3.04890055864, 8.33121589165, 0.882552535386)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929414615, -0.000494699668, -0.000128265565, -0.369036871)
+            double3 xformOp:translate = (3.55449738018, 8.58092000107, 0.801274803032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989370236, -0.00049251315, 0.000136420721, 0.145417587)
+            double3 xformOp:translate = (3.26551886194, 8.5500269116, 0.781231776839)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94125651, -0.00049871917, -0.000111619915, -0.337692049)
+            double3 xformOp:translate = (1.92925871585, 8.6069842407, 0.74077976191)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993988308, 0, 0, 0.109486269)
+            double3 xformOp:translate = (4.85367947843, 8.12232536482, 0.966212635734)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886888638, -0.000420488506, 0.000290463823, 0.46198299)
+            double3 xformOp:translate = (3.59272007731, 8.51190779773, 0.74660568784)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.884273604, 0, 0, 0.466969156)
+            double3 xformOp:translate = (4.99254744177, 8.15534819968, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0308924052, 4.76542676e-05, 0.000508830902, 0.999522585)
+            double3 xformOp:translate = (1.87200341734, 8.19307201332, 0.752449921248)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.462237558, -0.000290584515, -0.000420405109, -0.886755986)
+            double3 xformOp:translate = (3.3680317535, 8.87925215031, 0.747739315442)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.618319222, -0.000263770648, 0.000437726926, 0.785926891)
+            double3 xformOp:translate = (2.57205759949, 8.26366006244, 0.75106822968)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.965863539, -0.000506215827, -7.01808595e-05, -0.25905089)
+            double3 xformOp:translate = (1.91876410808, 8.32432598321, 0.841324833532)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.666828114, -0.00029094963, 0.000420152507, 0.745211383)
+            double3 xformOp:translate = (3.17927745831, 8.90525225654, 0.840575930959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0496963329, 0, 0, 0.998764374)
+            double3 xformOp:translate = (4.97061685546, 8.2963692006, 0.979198459737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00486477609, -6.58167913e-05, -0.000506801703, -0.999988036)
+            double3 xformOp:translate = (3.59172407494, 8.70881168671, 0.767065098476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.787798144, 0, 0, 0.615933506)
+            double3 xformOp:translate = (4.98187447386, 8.77157186586, 1.02041951546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.820841664, -0.000380078889, 0.000341642876, 0.571155584)
+            double3 xformOp:translate = (3.59383833647, 8.25890681667, 0.775172949752)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991337725, -0.000511043412, -3.801009e-06, -0.131336417)
+            double3 xformOp:translate = (3.16759128638, 8.38019433303, 0.818220442184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.116213945, 3.98733934e-06, 0.000511041992, 0.993224072)
+            double3 xformOp:translate = (2.00097034607, 8.28110052316, 0.788524275059)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0122/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0122/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e86ce6783ab099dfca5c09b837777962089e2669
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0122/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6722433182986906232,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 7,
+    "small prop": 1,
+    "small object": 5,
+    "office_supply": 3,
+    "paper goods": 2,
+    "electronics": 7,
+    "writing_instrument": 1,
+    "drinkware/container": 2,
+    "paper_goods": 1
+  },
+  "failed_sampling_attempt_count": 78,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.7791608269446801,
+        8.385055009142997,
+        0.7410238702437089
+      ],
+      "rotation_wxyz": [
+        0.8062965357803857,
+        -0.0003714132753976132,
+        0.0003510441497856493,
+        0.5915113145230049
+      ],
+      "yaw_degrees_local": 72.46995889297776,
+      "yaw_radians": 1.2658639892627268,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7791608269446801,
+        8.385055009142997,
+        0.8910238762041733
+      ],
+      "z_min": 0.7410238702437089,
+      "z_max": 1.0410238821646378
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.4859992785169953,
+        8.8428182172979,
+        0.7403433307292591
+      ],
+      "rotation_wxyz": [
+        0.30128999617968016,
+        -9.238216727724839e-05,
+        0.000502638390306064,
+        0.9535324205407136
+      ],
+      "yaw_degrees_local": 144.8710853263674,
+      "yaw_radians": 2.529502336274361,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4859992785169953,
+        8.8428182172979,
+        0.7628403424430421
+      ],
+      "z_min": 0.7403433337241936,
+      "z_max": 0.7853373571517597
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        1.8354816904733324,
+        8.827344444052951,
+        0.826955452318198
+      ],
+      "rotation_wxyz": [
+        0.26245020280565096,
+        -0.00019422250141591419,
+        -0.00047271284749206657,
+        -0.9649454025319032
+      ],
+      "yaw_degrees_local": -149.62770971263427,
+      "yaw_radians": -2.610471748984306,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8354816904733324,
+        8.827344444052951,
+        0.9133547312764647
+      ],
+      "z_min": 0.7405681952758371,
+      "z_max": 0.9133667531923704
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.572314872277703,
+        8.869353338388876,
+        0.7745018463987727
+      ],
+      "rotation_wxyz": [
+        0.3208388309075283,
+        -0.00022270392326774084,
+        -0.0004599812809250707,
+        -0.947133667125224
+      ],
+      "yaw_degrees_local": -142.63138254776175,
+      "yaw_radians": -2.4883628131560145,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.572314872277703,
+        8.869353338388876,
+        0.8085004025694515
+      ],
+      "z_min": 0.7404322035851469,
+      "z_max": 0.8084293159265046
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.3771257913891866,
+        8.354714089547882,
+        0.7755856876772712
+      ],
+      "rotation_wxyz": [
+        0.7820196755649653,
+        -0.0003570912054452346,
+        0.00036560318274596825,
+        0.6232535325607471
+      ],
+      "yaw_degrees_local": 77.04953327791577,
+      "yaw_radians": 1.345792680686795,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3771257913891866,
+        8.354714089547882,
+        0.8101854146601065
+      ],
+      "z_min": 0.7409788982268879,
+      "z_max": 0.8101783521925584
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.750369561593489,
+        8.302559888496889,
+        0.7884376130603713
+      ],
+      "rotation_wxyz": [
+        0.50704641434776,
+        -0.0003117343391538247,
+        -0.0004049710088792046,
+        -0.8619185997049047
+      ],
+      "yaw_degrees_local": -119.12411686393816,
+      "yaw_radians": -2.078083548752816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.750369561593489,
+        8.302559888496889,
+        0.8358365384884717
+      ],
+      "z_min": 0.7408578099480716,
+      "z_max": 0.8356556608042726
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.9416177622580468,
+        8.908575976951449,
+        0.7880521429229838
+      ],
+      "rotation_wxyz": [
+        0.9930852609146386,
+        -0.0005110463695069329,
+        3.3800080023460374e-06,
+        -0.11739422206517709
+      ],
+      "yaw_degrees_local": -13.542191120213118,
+      "yaw_radians": -0.23533107532747005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9416177622580468,
+        8.908575976951449,
+        0.8354510683510842
+      ],
+      "z_min": 0.740472339810684,
+      "z_max": 0.835270190666885
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.710029206886399,
+        8.882292798417012,
+        0.765301629193881
+      ],
+      "rotation_wxyz": [
+        0.5321100407970001,
+        -0.00021620416732809637,
+        0.0004630718888793371,
+        0.8466750517779527
+      ],
+      "yaw_degrees_local": 115.64501427611071,
+      "yaw_radians": 2.0194111906994805,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.710029206886399,
+        8.882292798417012,
+        0.7902458707640063
+      ],
+      "z_min": 0.740274925563851,
+      "z_max": 0.7901634087041016
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.813845196769966,
+        8.234810972933957,
+        0.746695596132105
+      ],
+      "rotation_wxyz": [
+        0.9996573358263,
+        -0.0005086001673510304,
+        5.005682781415999e-05,
+        -0.026171544640088203
+      ],
+      "yaw_degrees_local": -3.0580913841081383,
+      "yaw_radians": -0.05234911080218756,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.813845196769966,
+        8.234810972933957,
+        0.7523444473453871
+      ],
+      "z_min": 0.7410451598623181,
+      "z_max": 0.7523428622888824
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        3.020550039563872,
+        8.225017899662292,
+        0.7535392982963857
+      ],
+      "rotation_wxyz": [
+        0.626161200991758,
+        -0.00036693034068562653,
+        -0.00035572734126665417,
+        -0.7796934584775886
+      ],
+      "yaw_degrees_local": -102.523763678643,
+      "yaw_radians": -1.7883525960494726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.020550039563872,
+        8.225017899662292,
+        0.7661101210616506
+      ],
+      "z_min": 0.7410289061605342,
+      "z_max": 0.7661705516910639
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.495276466775371,
+        8.498976603229147,
+        0.7406908935229581
+      ],
+      "rotation_wxyz": [
+        0.14239061099758138,
+        -0.00013491357861091034,
+        -0.0004929281312186497,
+        -0.9898104125133861
+      ],
+      "yaw_degrees_local": -163.68629965161608,
+      "yaw_radians": -2.8558403701772606,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.495276466775371,
+        8.498976603229147,
+        0.7906909874002737
+      ],
+      "z_min": 0.7406908935229581,
+      "z_max": 0.8406910812775892
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.438784183679387,
+        8.6823811019899,
+        0.7745816970246436
+      ],
+      "rotation_wxyz": [
+        0.9987807854156567,
+        -0.0005096248303867285,
+        3.82406654441408e-05,
+        -0.04936275422490016
+      ],
+      "yaw_degrees_local": -5.717565849680625,
+      "yaw_radians": -0.09876567247667899,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.438784183679387,
+        8.6823811019899,
+        0.8085802531953225
+      ],
+      "z_min": 0.7405120542110178,
+      "z_max": 0.8085091665523755
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.048900558636198,
+        8.331215891651492,
+        0.8825525353859222
+      ],
+      "rotation_wxyz": [
+        0.6103671387547699,
+        -0.00035970805191540636,
+        -0.00036302883305260465,
+        -0.7921184852965493
+      ],
+      "yaw_degrees_local": -104.82659044199183,
+      "yaw_radians": -1.8285445256246915,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.048900558636198,
+        8.331215891651492,
+        1.0241133225816736
+      ],
+      "z_min": 0.7409176721468016,
+      "z_max": 1.0240392465383046
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.554497380175408,
+        8.580920001072782,
+        0.8012748030320652
+      ],
+      "rotation_wxyz": [
+        0.929414614951859,
+        -0.0004946996676289146,
+        -0.0001282655647013416,
+        -0.36903687123927315
+      ],
+      "yaw_degrees_local": -43.371178161486256,
+      "yaw_radians": -0.7559449203340618,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.554497380175408,
+        8.580920001072782,
+        0.8619016694873248
+      ],
+      "z_min": 0.7406003122299829,
+      "z_max": 0.8618540451405021
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.2655188619422297,
+        8.55002691159829,
+        0.7812317768388275
+      ],
+      "rotation_wxyz": [
+        0.9893702362204445,
+        -0.0004925131502449762,
+        0.00013642072084577993,
+        0.14541758662997312
+      ],
+      "yaw_degrees_local": 16.664214675231335,
+      "yaw_radians": 0.29186991032582066,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2655188619422297,
+        8.55002691159829,
+        0.821781785978359
+      ],
+      "z_min": 0.7406682483922625,
+      "z_max": 0.8217682666713255
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.9292587158465202,
+        8.606984240699168,
+        0.7407797619103321
+      ],
+      "rotation_wxyz": [
+        0.9412565104971469,
+        -0.0004987191703111918,
+        -0.00011161991490961216,
+        -0.33769204945766534
+      ],
+      "yaw_degrees_local": -39.5313627578075,
+      "yaw_radians": -0.6889275116668023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9292587158465202,
+        8.606984240699168,
+        0.7632767736241152
+      ],
+      "z_min": 0.7407797649052666,
+      "z_max": 0.7857737883328327
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        4.853679478430873,
+        8.122325364819735,
+        0.9662126357339486
+      ],
+      "rotation_wxyz": [
+        0.9939883082707595,
+        0.0,
+        0.0,
+        0.10948626864147815
+      ],
+      "yaw_degrees_local": -77.4285958715061,
+      "yaw_radians": 0.21941239364102713,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.853679478430873,
+        8.122325364819735,
+        1.0124110502348285
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0125968578980915
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.5927200773129737,
+        8.511907797733535,
+        0.7466056878400268
+      ],
+      "rotation_wxyz": [
+        0.8868886378041475,
+        -0.00042048850606548997,
+        0.0002904638230608504,
+        0.46198298989690917
+      ],
+      "yaw_degrees_local": 54.971578217672885,
+      "yaw_radians": 0.9604595092820757,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5927200773129737,
+        8.511907797733535,
+        0.7524229006065991
+      ],
+      "z_min": 0.7406654351777171,
+      "z_max": 0.7522998607108617
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.992547441768297,
+        8.155348199676038,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.8842736042026549,
+        0.0,
+        0.0,
+        0.4669691562731382
+      ],
+      "yaw_degrees_local": -34.32452584026748,
+      "yaw_radians": 0.9717203366963557,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.992547441768297,
+        8.155348199676038,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        1.872003417344549,
+        8.193072013321865,
+        0.752449921248244
+      ],
+      "rotation_wxyz": [
+        0.03089240515512896,
+        4.765426758799685e-05,
+        0.0005088309021875186,
+        0.9995225850994641
+      ],
+      "yaw_degrees_local": 176.40071694506366,
+      "yaw_radians": 3.0797979711366943,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.872003417344549,
+        8.193072013321865,
+        0.7636829204721561
+      ],
+      "z_min": 0.7412068281882948,
+      "z_max": 0.7636728266361191
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.3680317535031783,
+        8.879252150310373,
+        0.7477393154423465
+      ],
+      "rotation_wxyz": [
+        0.4622375580581262,
+        -0.0002905845150746514,
+        -0.0004204051091972388,
+        -0.886755986019065
+      ],
+      "yaw_degrees_local": -124.99552752393944,
+      "yaw_radians": -2.1805590310247025,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3680317535031783,
+        8.879252150310373,
+        0.755279218085446
+      ],
+      "z_min": 0.7403213317494347,
+      "z_max": 0.7554011370356336
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.572057599492314,
+        8.263660062440781,
+        0.7510682296798014
+      ],
+      "rotation_wxyz": [
+        0.6183192224915318,
+        -0.00026377064795472436,
+        0.0004377269257400754,
+        0.7859268909495665
+      ],
+      "yaw_degrees_local": 103.55428017693038,
+      "yaw_radians": 1.8083880066930706,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.572057599492314,
+        8.263660062440781,
+        0.7611055806606201
+      ],
+      "z_min": 0.7410465372302992,
+      "z_max": 0.7611212391919366
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.918764108084542,
+        8.324325983212178,
+        0.8413248335322928
+      ],
+      "rotation_wxyz": [
+        0.9658635386242658,
+        -0.000506215826700134,
+        -7.018085948898359e-05,
+        -0.2590508899355401
+      ],
+      "yaw_degrees_local": -30.086219977040884,
+      "yaw_radians": -0.5240787206712946,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.918764108084542,
+        8.324325983212178,
+        0.9415417135949429
+      ],
+      "z_min": 0.7410678280540143,
+      "z_max": 0.9415015881793143
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.17927745830824,
+        8.905252256537755,
+        0.8405759309594295
+      ],
+      "rotation_wxyz": [
+        0.6668281135423575,
+        -0.0002909496301707603,
+        0.00042015250676844765,
+        0.7452113833065922
+      ],
+      "yaw_degrees_local": 96.29582303646731,
+      "yaw_radians": 1.6817039763973904,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.17927745830824,
+        8.905252256537755,
+        0.9407928110220796
+      ],
+      "z_min": 0.740318925481151,
+      "z_max": 0.940752685606451
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        4.970616855461928,
+        8.296369200596672,
+        0.9791984597370379
+      ],
+      "rotation_wxyz": [
+        -0.04969633287401226,
+        0.0,
+        0.0,
+        0.9987643738634631
+      ],
+      "yaw_degrees_local": 95.69712696159246,
+      "yaw_radians": -3.0421590302058643,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.970616855461928,
+        8.296369200596672,
+        1.0383247377695581
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0384525849613722
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.591724074938624,
+        8.70881168670657,
+        0.7670650984763754
+      ],
+      "rotation_wxyz": [
+        0.004864776094318143,
+        -6.581679133731865e-05,
+        -0.0005068017030539385,
+        -0.9999880363153032
+      ],
+      "yaw_degrees_local": -179.5012458706583,
+      "yaw_radians": -3.131863130919286,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.591724074938624,
+        8.70881168670657,
+        0.7936395831324494
+      ],
+      "z_min": 0.7404658659037097,
+      "z_max": 0.7936148352158576
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        4.9818744738558465,
+        8.771571865859185,
+        1.0204195154605271
+      ],
+      "rotation_wxyz": [
+        0.7877981440647207,
+        0.0,
+        0.0,
+        0.6159335063204322
+      ],
+      "yaw_degrees_local": -13.960436248924623,
+      "yaw_radians": 1.3271407492363956,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9818744738558465,
+        8.771571865859185,
+        1.1205082165525402
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.1203774310803578
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        3.59383833647107,
+        8.258906816673862,
+        0.775172949752221
+      ],
+      "rotation_wxyz": [
+        0.8208416644721734,
+        -0.00038007888886287973,
+        0.0003416428756480535,
+        0.5711555836081235
+      ],
+      "yaw_degrees_local": 69.60299496187213,
+      "yaw_radians": 1.2158260051814906,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.59383833647107,
+        8.258906816673862,
+        0.8093784694647228
+      ],
+      "z_min": 0.7409219100173474,
+      "z_max": 0.8093329494423511
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.1675912863806723,
+        8.380194333026418,
+        0.8182204421840718
+      ],
+      "rotation_wxyz": [
+        0.991337724657364,
+        -0.000511043411630427,
+        -3.8010090037382657e-06,
+        -0.13133641723202422
+      ],
+      "yaw_degrees_local": -15.15236355308943,
+      "yaw_radians": -0.2634338715852153,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1675912863806723,
+        8.380194333026418,
+        0.8956021973174112
+      ],
+      "z_min": 0.7408529248166884,
+      "z_max": 0.8956164350833673
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.0009703460742605,
+        8.281100523156583,
+        0.7885242750591144
+      ],
+      "rotation_wxyz": [
+        0.1162139445503584,
+        3.987339343331227e-06,
+        0.0005110419917827436,
+        0.9932240723584131
+      ],
+      "yaw_degrees_local": 166.59399091581014,
+      "yaw_radians": 2.908638401961293,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0009703460742605,
+        8.281100523156583,
+        0.8359768007980948
+      ],
+      "z_min": 0.7411012254856858,
+      "z_max": 0.8360062769636467
+    }
+  ],
+  "variant_index": 122
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0125/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0125/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..88d92781e90c399bc203036c898bef5333ed5d99
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0125/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7063258177351202066
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981143285, -0.000485308951, 0.000160171902, 0.193281123)
+            double3 xformOp:translate = (3.621865372, 8.2392067804, 0.740938318485)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.66500839, -0.000384548814, -0.000336603663, -0.746835712)
+            double3 xformOp:translate = (2.05474386264, 8.36972703284, 0.741004499691)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.809919093, -0.000447880611, -0.000246135683, -0.58654139)
+            double3 xformOp:translate = (3.26973269613, 8.5281301314, 0.744199331361)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.875437616, -0.000474567656, -0.000189645342, -0.483330859)
+            double3 xformOp:translate = (3.40783443845, 8.67192081948, 0.747184993681)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952724219, -0.000463893479, 0.00021443567, 0.303835979)
+            double3 xformOp:translate = (3.54890510465, 8.65674643357, 0.744077652779)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908944074, -0.000434528077, 0.000269007744, 0.416917748)
+            double3 xformOp:translate = (3.51066201412, 8.81048590787, 0.811655578502)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.493781104, -0.000305493028, -0.000409699678, -0.869586086)
+            double3 xformOp:translate = (2.50305255162, 8.30502193128, 0.781576874109)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.485566027, -0.000301619316, -0.00041255982, -0.874199847)
+            double3 xformOp:translate = (2.88746201326, 8.30375179767, 0.745286180384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.721677673, -0.000409827351, -0.00030532173, -0.692229063)
+            double3 xformOp:translate = (2.21641468831, 8.35296543737, 0.788424090311)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.604561184, -0.00035704504, -0.000365648268, -0.796558544)
+            double3 xformOp:translate = (1.91341643985, 8.83174014083, 0.7748048751)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.369168241, 0, 0, 0.929362583)
+            double3 xformOp:translate = (4.95962388961, 8.11409653597, 0.960763557343)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.968897327, -0.000475666408, 0.000186872375, 0.24746254)
+            double3 xformOp:translate = (1.77725093436, 8.49170267134, 0.775522754266)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.736274491, -0.000330508319, 0.000389800035, 0.676682801)
+            double3 xformOp:translate = (3.20833935969, 8.37610908858, 0.835725410823)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.944048211, -0.000499635369, -0.000107444469, -0.329807087)
+            double3 xformOp:translate = (1.96304154276, 8.5865776728, 0.751816234298)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999434462, -0.000504699137, 8.03653967e-05, 0.033622843)
+            double3 xformOp:translate = (1.69517499134, 8.88877550019, 0.76712286828)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970951827, -0.000507543334, -5.9829593e-05, -0.239274504)
+            double3 xformOp:translate = (1.75908171406, 8.67032456942, 0.812019661828)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416416279, -0.000153574677, 0.000487436801, 0.909173923)
+            double3 xformOp:translate = (2.12244116599, 8.87458487602, 0.813256136113)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.72019451, -0.000409172962, -0.000306198144, -0.693772013)
+            double3 xformOp:translate = (1.74233886138, 8.40909202564, 0.746291370428)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.275361672, -0.000200541745, -0.00047006683, -0.961340568)
+            double3 xformOp:translate = (3.63952159423, 8.50796925599, 0.787253755067)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.711514775, -0.000405335082, -0.000311260803, -0.70267095)
+            double3 xformOp:translate = (3.23411452384, 8.2141442933, 0.752820253989)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980655402, -0.000484905674, 0.000161388673, 0.195741465)
+            double3 xformOp:translate = (3.64239510154, 8.89433963546, 0.787694337863)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.825765294, -0.000454489329, -0.00023370765, -0.564013668)
+            double3 xformOp:translate = (2.79001448121, 8.26278595654, 0.752820370204)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.112519224, 5.88793664e-06, 0.000511023628, 0.993649417)
+            double3 xformOp:translate = (1.93801967807, 8.26162410696, 0.776095051494)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0177142765, -7.23237873e-05, -0.000505914109, -0.999842959)
+            double3 xformOp:translate = (3.60139631928, 8.4258490759, 0.746691872075)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.836137101, -0.000458767523, -0.000225193641, -0.54852027)
+            double3 xformOp:translate = (3.29929948366, 8.84736304919, 0.774432039893)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999046522, -0.000509398019, 4.11518414e-05, -0.0436552995)
+            double3 xformOp:translate = (2.68022804705, 8.89006581675, 0.777053075678)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.827274158, -0.000455114146, -0.000232488559, -0.561798191)
+            double3 xformOp:translate = (2.6575908031, 8.22695906433, 0.82226264908)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.879044245, -0.000415575629, 0.000297450353, 0.476739924)
+            double3 xformOp:translate = (2.23659952152, 8.22917452987, 0.813896268062)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.613164646, -0.000360989653, -0.000361754457, -0.789954971)
+            double3 xformOp:translate = (3.43483005339, 8.2304174129, 0.747951940769)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985453533, -0.000488973145, 0.000148610495, 0.169944324)
+            double3 xformOp:translate = (3.44542942001, 8.38159338546, 0.749850177335)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0125/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0125/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ba197def26e01b5410b0311cb69b470d13b1d6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0125/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7063258177351202066,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 7,
+    "office_supply": 4,
+    "small object": 5,
+    "clock": 3,
+    "office_supplies": 1,
+    "book": 2,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 142,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.621865371996196,
+        8.239206780404256,
+        0.7409383184849186
+      ],
+      "rotation_wxyz": [
+        0.9811432853474639,
+        -0.0004853089511469792,
+        0.00016017190195827605,
+        0.19328112281795456
+      ],
+      "yaw_degrees_local": 22.229950599625084,
+      "yaw_radians": 0.38901029719250146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.621865371996196,
+        8.239206780404256,
+        0.7634353301987017
+      ],
+      "z_min": 0.7409383214798532,
+      "z_max": 0.7859323449074193
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.054743862643945,
+        8.369727032836328,
+        0.7410044996911023
+      ],
+      "rotation_wxyz": [
+        0.6650083899164825,
+        -0.0003845488139178877,
+        -0.00033660366301432073,
+        -0.7468357116266412
+      ],
+      "yaw_degrees_local": -96.692758998349,
+      "yaw_radians": -1.6865823128007955,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.054743862643945,
+        8.369727032836328,
+        0.7910045935684178
+      ],
+      "z_min": 0.7410044996911023,
+      "z_max": 0.8410046874457333
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.269732696130086,
+        8.528130131402694,
+        0.7441993313609807
+      ],
+      "rotation_wxyz": [
+        0.8099190927948807,
+        -0.0004478806111436318,
+        -0.0002461356829107058,
+        -0.586541389798283
+      ],
+      "yaw_degrees_local": -71.88263512030879,
+      "yaw_radians": -1.2535637659339756,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.269732696130086,
+        8.528130131402694,
+        0.7477796108423058
+      ],
+      "z_min": 0.7406899035582285,
+      "z_max": 0.7478504625208786
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.4078344384468435,
+        8.671920819483303,
+        0.7471849936811523
+      ],
+      "rotation_wxyz": [
+        0.8754376159374136,
+        -0.00047456765643123365,
+        -0.0001896453419140032,
+        -0.48333085916585283
+      ],
+      "yaw_degrees_local": -57.86506390128358,
+      "yaw_radians": -1.0089109407800145,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4078344384468435,
+        8.671920819483303,
+        0.7537977979646401
+      ],
+      "z_min": 0.740526570414996,
+      "z_max": 0.7537521789819716
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.5489051046537257,
+        8.656746433573797,
+        0.7440776527788424
+      ],
+      "rotation_wxyz": [
+        0.9527242185764384,
+        -0.0004638934786798922,
+        0.00021443567025702833,
+        0.3038359790381955
+      ],
+      "yaw_degrees_local": 35.31758900146394,
+      "yaw_radians": 0.6174326418794545,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5489051046537257,
+        8.656746433573797,
+        0.7476527133550622
+      ],
+      "z_min": 0.7405240853321389,
+      "z_max": 0.7476742064845785
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        3.5106620141177194,
+        8.810485907867822,
+        0.8116555785019063
+      ],
+      "rotation_wxyz": [
+        0.9089440742717176,
+        -0.0004345280773892162,
+        0.0002690077437560934,
+        0.41691774808289733
+      ],
+      "yaw_degrees_local": 49.221585244076124,
+      "yaw_radians": 0.8601031749128911,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5106620141177194,
+        8.810485907867822,
+        0.8831338252319743
+      ],
+      "z_min": 0.7403730386316957,
+      "z_max": 0.8833295320918316
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.5030525516189033,
+        8.305021931282381,
+        0.781576874109279
+      ],
+      "rotation_wxyz": [
+        0.4937811037600347,
+        -0.0003054930278946828,
+        -0.00040969967799358984,
+        -0.8695860856693293
+      ],
+      "yaw_degrees_local": -120.87988789409494,
+      "yaw_radians": -2.1087275453290446,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5030525516189033,
+        8.305021931282381,
+        0.8221268832488106
+      ],
+      "z_min": 0.741013345662714,
+      "z_max": 0.822113363941777
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.8874620132558273,
+        8.303751797667164,
+        0.7452861803840508
+      ],
+      "rotation_wxyz": [
+        0.48556602664880427,
+        -0.00030161931550171995,
+        -0.0004125598196099404,
+        -0.8741998470513918
+      ],
+      "yaw_degrees_local": -121.95957492652789,
+      "yaw_radians": -2.1275716454606175,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8874620132558273,
+        8.303751797667164,
+        0.7494227817441779
+      ],
+      "z_min": 0.7409659098315834,
+      "z_max": 0.7492391125518375
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.2164146883090794,
+        8.352965437374744,
+        0.7884240903111415
+      ],
+      "rotation_wxyz": [
+        0.7216776727465022,
+        -0.00040982735058322877,
+        -0.0003053217302359004,
+        -0.6922290628681929
+      ],
+      "yaw_degrees_local": -87.67236187231708,
+      "yaw_radians": -1.5291466024580038,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2164146883090794,
+        8.352965437374744,
+        0.8358766160501219
+      ],
+      "z_min": 0.7410010407377129,
+      "z_max": 0.8359060922156738
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.913416439845144,
+        8.831740140832242,
+        0.7748048750996607
+      ],
+      "rotation_wxyz": [
+        0.6045611843216107,
+        -0.00035704503988258905,
+        -0.0003656482677868897,
+        -0.7965585435056457
+      ],
+      "yaw_degrees_local": -105.66415578236,
+      "yaw_radians": -1.8431628058497689,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.913416439845144,
+        8.831740140832242,
+        0.8090103948121625
+      ],
+      "z_min": 0.7405538353647871,
+      "z_max": 0.8089648747897908
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        4.959623889610896,
+        8.114096535970422,
+        0.9607635573428968
+      ],
+      "rotation_wxyz": [
+        -0.36916824088819916,
+        0.0,
+        0.0,
+        0.9293625825906231
+      ],
+      "yaw_degrees_local": 133.32865938631778,
+      "yaw_radians": -2.3853648868234028,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.959623889610896,
+        8.114096535970422,
+        1.0013135664824282
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0013000471753948
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        1.7772509343596803,
+        8.49170267134307,
+        0.7755227542661766
+      ],
+      "rotation_wxyz": [
+        0.9688973268149937,
+        -0.0004756664079142534,
+        0.00018687237522508148,
+        0.24746254041964247
+      ],
+      "yaw_degrees_local": 28.596111503615276,
+      "yaw_radians": 0.5001207413701702,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7772509343596803,
+        8.49170267134307,
+        0.8101224812490119
+      ],
+      "z_min": 0.7409159648157932,
+      "z_max": 0.8101154187814638
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.208339359687717,
+        8.376109088584327,
+        0.8357254108233474
+      ],
+      "rotation_wxyz": [
+        0.7362744905767987,
+        -0.0003305083190052146,
+        0.00038980003502906454,
+        0.6766828011306771
+      ],
+      "yaw_degrees_local": 85.11123553993872,
+      "yaw_radians": 1.4864960015949205,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.208339359687717,
+        8.376109088584327,
+        0.930622256887551
+      ],
+      "z_min": 0.7408519145209327,
+      "z_max": 0.9306456066493399
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        1.9630415427591776,
+        8.586577672801113,
+        0.7518162342984748
+      ],
+      "rotation_wxyz": [
+        0.9440482105728417,
+        -0.0004996353693348764,
+        -0.00010744446914529496,
+        -0.329807087453256
+      ],
+      "yaw_degrees_local": -38.57284946216231,
+      "yaw_radians": -0.672198302599113,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9630415427591776,
+        8.586577672801113,
+        0.762695654501611
+      ],
+      "z_min": 0.7407961873374702,
+      "z_max": 0.7625550277437427
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.6951749913432899,
+        8.888775500185659,
+        0.7671228682797977
+      ],
+      "rotation_wxyz": [
+        0.9994344617069632,
+        -0.0005046991373627097,
+        8.036539669316242e-05,
+        0.033622843019244494
+      ],
+      "yaw_degrees_local": 3.7949104007930714,
+      "yaw_radians": 0.06725827381096533,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6951749913432899,
+        8.888775500185659,
+        0.7936973529358717
+      ],
+      "z_min": 0.740523635707132,
+      "z_max": 0.7936726050192799
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        1.759081714060847,
+        8.670324569415715,
+        0.812019661827905
+      ],
+      "rotation_wxyz": [
+        0.9709518269880079,
+        -0.0005075433341483493,
+        -5.982959302794534e-05,
+        -0.23927450446889154
+      ],
+      "yaw_degrees_local": -27.746164100260614,
+      "yaw_radians": -0.48323705641847126,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.759081714060847,
+        8.670324569415715,
+        0.883497908557973
+      ],
+      "z_min": 0.7407371219576944,
+      "z_max": 0.8836936154178303
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.1224411659902667,
+        8.874584876017378,
+        0.8132561361125299
+      ],
+      "rotation_wxyz": [
+        0.4164162788634685,
+        -0.0001535746771699815,
+        0.00048743680079826613,
+        0.9091739225899993
+      ],
+      "yaw_degrees_local": 130.7242066882941,
+      "yaw_radians": 2.2825927687292107,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1224411659902667,
+        8.874584876017378,
+        0.8861185807192736
+      ],
+      "z_min": 0.7404839173106534,
+      "z_max": 0.8862088065241408
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.7423388613782382,
+        8.409092025637547,
+        0.7462913704275199
+      ],
+      "rotation_wxyz": [
+        0.7201945103574309,
+        -0.0004091729620019731,
+        -0.00030619814402906573,
+        -0.6937720130354095
+      ],
+      "yaw_degrees_local": -87.91761106949815,
+      "yaw_radians": -1.5334270105536971,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7423388613782382,
+        8.409092025637547,
+        0.7515923610586334
+      ],
+      "z_min": 0.7410041592742522,
+      "z_max": 0.7516061405364792
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.6395215942342074,
+        8.507969255987646,
+        0.787253755067477
+      ],
+      "rotation_wxyz": [
+        0.2753616724134856,
+        -0.0002005417454617249,
+        -0.00047006682989493884,
+        -0.9613405682617542
+      ],
+      "yaw_degrees_local": -148.0915688722728,
+      "yaw_radians": -2.583661036781459,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6395215942342074,
+        8.507969255987646,
+        0.833835358333395
+      ],
+      "z_min": 0.7406635212027769,
+      "z_max": 0.8338267277346129
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.234114523836359,
+        8.214144293298897,
+        0.7528202539887265
+      ],
+      "rotation_wxyz": [
+        0.7115147745043221,
+        -0.0004053350819725543,
+        -0.0003112608031259562,
+        -0.7026709503617234
+      ],
+      "yaw_degrees_local": -89.34210412940347,
+      "yaw_radians": -1.5582891170324826,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.234114523836359,
+        8.214144293298897,
+        0.7645075789413932
+      ],
+      "z_min": 0.7410128752953274,
+      "z_max": 0.7643875252006608
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.642395101535952,
+        8.894339635464883,
+        0.7876943378633894
+      ],
+      "rotation_wxyz": [
+        0.9806554021961409,
+        -0.00048490567382668227,
+        0.00016138867287081776,
+        0.195741464599888
+      ],
+      "yaw_degrees_local": 22.51737484402645,
+      "yaw_radians": 0.3940267952619148,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.642395101535952,
+        8.894339635464883,
+        0.8351468636023698
+      ],
+      "z_min": 0.7402712882899608,
+      "z_max": 0.8351763397679217
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.790014481209656,
+        8.262785956537241,
+        0.7528203702041758
+      ],
+      "rotation_wxyz": [
+        0.8257652940301673,
+        -0.00045448932922954584,
+        -0.00023370765040278446,
+        -0.5640136682700656
+      ],
+      "yaw_degrees_local": -68.72637399006096,
+      "yaw_radians": -1.198476600151832,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.790014481209656,
+        8.262785956537241,
+        0.7646916407507456
+      ],
+      "z_min": 0.7410198093247264,
+      "z_max": 0.7647623504178659
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        1.9380196780687413,
+        8.261624106955447,
+        0.7760950514937858
+      ],
+      "rotation_wxyz": [
+        0.11251922444925623,
+        5.887936644287507e-06,
+        0.000511023628066634,
+        0.9936494165194896
+      ],
+      "yaw_degrees_local": 167.02017129508835,
+      "yaw_radians": 2.9160766489869774,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9380196780687413,
+        8.261624106955447,
+        0.8112081258369711
+      ],
+      "z_min": 0.7411289485068548,
+      "z_max": 0.8113550971932256
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.601396319284512,
+        8.425849075902343,
+        0.7466918720752731
+      ],
+      "rotation_wxyz": [
+        0.01771427653066177,
+        -7.232378732940911e-05,
+        -0.0005059141093373884,
+        -0.9998429592826962
+      ],
+      "yaw_degrees_local": -178.02869741185174,
+      "yaw_radians": -3.106162324766656,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.601396319284512,
+        8.425849075902343,
+        0.7525090848418454
+      ],
+      "z_min": 0.7407516194129634,
+      "z_max": 0.7523860449461081
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.29929948366107,
+        8.847363049189568,
+        0.7744320398928808
+      ],
+      "rotation_wxyz": [
+        0.836137101145624,
+        -0.00045876752292698384,
+        -0.00022519364144609402,
+        -0.5485202702799382
+      ],
+      "yaw_degrees_local": -66.58983311624822,
+      "yaw_radians": -1.1611869172828644,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.29929948366107,
+        8.847363049189568,
+        0.8084305960635596
+      ],
+      "z_min": 0.740362397079255,
+      "z_max": 0.8083595094206126
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.680228047047628,
+        8.890065816754245,
+        0.7770530756780238
+      ],
+      "rotation_wxyz": [
+        0.9990465222636994,
+        -0.0005093980194217346,
+        4.11518413868295e-05,
+        -0.04365529948347227
+      ],
+      "yaw_degrees_local": -5.062830222520148,
+      "yaw_radians": -0.08733838601000746,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.680228047047628,
+        8.890065816754245,
+        0.8136632887472025
+      ],
+      "z_min": 0.7403975249537391,
+      "z_max": 0.8136179510920964
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.657590803100569,
+        8.226959064333663,
+        0.8222626490799856
+      ],
+      "rotation_wxyz": [
+        0.8272741575311028,
+        -0.0004551141462796786,
+        -0.0002324885590656709,
+        -0.561798190724559
+      ],
+      "yaw_degrees_local": -68.41921268948917,
+      "yaw_radians": -1.1931156226057191,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.657590803100569,
+        8.226959064333663,
+        0.9035065023733506
+      ],
+      "z_min": 0.741072960586099,
+      "z_max": 0.9035606671728289
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.236599521522857,
+        8.229174529868496,
+        0.8138962680616548
+      ],
+      "rotation_wxyz": [
+        0.8790442445683497,
+        -0.0004155756293052671,
+        0.00029745035311433713,
+        0.47673992376498464
+      ],
+      "yaw_degrees_local": 56.886691431137365,
+      "yaw_radians": 0.9938845507196624,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.236599521522857,
+        8.229174529868496,
+        0.8867587126683986
+      ],
+      "z_min": 0.7411240492597784,
+      "z_max": 0.8868489384732657
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.434830053385075,
+        8.230417412896626,
+        0.7479519407691034
+      ],
+      "rotation_wxyz": [
+        0.6131646460902237,
+        -0.0003609896526918513,
+        -0.00036175445662732226,
+        -0.7899549706187277
+      ],
+      "yaw_degrees_local": -104.42133695436516,
+      "yaw_radians": -1.8214715143898392,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.434830053385075,
+        8.230417412896626,
+        0.754935221577944
+      ],
+      "z_min": 0.7409709371702216,
+      "z_max": 0.7549374987879028
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.445429420013407,
+        8.38159338546196,
+        0.7498501773349272
+      ],
+      "rotation_wxyz": [
+        0.985453532968908,
+        -0.0004889731453986233,
+        0.00014861049532011324,
+        0.16994432376305316
+      ],
+      "yaw_degrees_local": 19.510456040581346,
+      "yaw_radians": 0.3415461769705891,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.445429420013407,
+        8.38159338546196,
+        0.7586834234384094
+      ],
+      "z_min": 0.7408162677551279,
+      "z_max": 0.7584827599620924
+    }
+  ],
+  "variant_index": 125
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0126/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0126/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..1d1b835740ff20fee093dae4014c486a7bd1cbbe
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0126/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1155142215016420600
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.299600501, -0.000212372706, -0.000464841532, -0.954064609)
+            double3 xformOp:translate = (2.59870922171, 8.30603112237, 0.741000181113)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.845386873, -0.00039487021, 0.000324433866, 0.53415426)
+            double3 xformOp:translate = (2.34974233511, 8.88121366293, 0.740448356856)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702484401, 0, 0, 0.71169914)
+            double3 xformOp:translate = (4.85402271025, 8.11851035791, 0.954451068631)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956950072, -0.000466897021, 0.000207814793, 0.290252128)
+            double3 xformOp:translate = (3.21708865442, 8.46453569131, 0.748773845123)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416331826, -0.0001535294, 0.000487451064, 0.909212598)
+            double3 xformOp:translate = (3.46045729342, 8.37122878414, 0.753893371672)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.745860439, -0.000420435657, -0.000290540315, -0.666102053)
+            double3 xformOp:translate = (1.76106641801, 8.38566102258, 0.745395209815)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.301419364, -9.2450362e-05, 0.000502625852, 0.953491534)
+            double3 xformOp:translate = (2.93456860122, 8.28801481344, 0.788555728039)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.950812408, -0.000501796042, -9.68532312e-05, -0.309766854)
+            double3 xformOp:translate = (3.64200691095, 8.87476055007, 0.870242401438)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.432543024, -0.000162231786, 0.00048462425, 0.90161315)
+            double3 xformOp:translate = (3.12647812499, 8.23359423307, 0.787218805621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.943476397, -0.000457455074, 0.000227847913, 0.331439326)
+            double3 xformOp:translate = (2.34735856218, 8.32104112052, 0.801691326396)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925321336, -0.00044522373, 0.000250909638, 0.379183549)
+            double3 xformOp:translate = (1.77113672526, 8.78980652281, 0.749648289196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.212289475, -4.57488049e-05, 0.000509005759, 0.977206691)
+            double3 xformOp:translate = (1.88961023527, 8.28472243584, 0.741111633709)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.79818946, -0.000442937377, -0.0002549241, -0.602406278)
+            double3 xformOp:translate = (1.71290180462, 8.63923033225, 0.744328041848)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.802100793, -0.000444590324, -0.000252030276, -0.59718846)
+            double3 xformOp:translate = (3.08859923072, 8.87730211442, 0.746087214347)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952206875, -0.000502229942, -9.4577492e-05, -0.305453444)
+            double3 xformOp:translate = (2.50213823521, 8.24282214429, 0.744630094647)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.934617012, -0.000496490164, -0.000121150044, -0.355655424)
+            double3 xformOp:translate = (1.95653974257, 8.81270018866, 0.740567664635)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999290912, -0.000504371312, 8.23977909e-05, 0.0376485261)
+            double3 xformOp:translate = (2.00778169489, 8.59643923358, 0.746509015311)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.591309101, -0.000248773561, 0.000446420801, 0.806444844)
+            double3 xformOp:translate = (3.41299941942, 8.746711597, 0.743570988243)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.736083884, -0.000416161241, -0.000296630474, -0.676890135)
+            double3 xformOp:translate = (3.40696208419, 8.20612049814, 0.747657533884)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.591263894, -0.000248748536, 0.000446434746, 0.806477989)
+            double3 xformOp:translate = (2.72404139584, 8.2330257019, 0.817207912097)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.541791361, -0.00032799799, -0.000391914703, -0.840512855)
+            double3 xformOp:translate = (3.5665902522, 8.66615117404, 0.754611445628)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999405805, -0.000508997951, 4.58356014e-05, -0.0344641091)
+            double3 xformOp:translate = (2.56367989363, 8.88045544969, 0.81795681151)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.69609253, -0.000307516986, 0.000408182704, 0.717951898)
+            double3 xformOp:translate = (3.75275252396, 8.56341530353, 0.870544146212)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.875950415, -0.00047476879, -0.000189141249, -0.482400881)
+            double3 xformOp:translate = (3.19817877267, 8.33135859135, 0.82280945913)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.172777668, -2.52205152e-05, 0.000510434856, 0.984960718)
+            double3 xformOp:translate = (3.62812268547, 8.49819608774, 0.787771126259)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0187459343, -7.28457658e-05, -0.000505839214, -0.999824149)
+            double3 xformOp:translate = (3.59353263876, 8.21434293829, 0.746656932679)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.824053169, 0, 0, 0.566512467)
+            double3 xformOp:translate = (4.89292648302, 8.78143618507, 0.966790262761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977604865, -0.000509091037, -4.47898658e-05, -0.21044825)
+            double3 xformOp:translate = (2.0318244326, 8.33660062218, 0.818575793259)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.887479419, 0, 0, -0.46084735)
+            double3 xformOp:translate = (4.97068885678, 8.37777675462, 1.02041951546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.352854813, -0.000238214013, -0.000452143672, -0.935677946)
+            double3 xformOp:translate = (3.37831427846, 8.49957096968, 0.806009457533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0126/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0126/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc70e79c8ca2d96d13a26bb86f7d4073c9b91f5
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0126/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1155142215016420600,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "electronics": 7,
+    "book": 3,
+    "paper goods": 1,
+    "small object": 7,
+    "decorative_object": 1,
+    "clock": 3,
+    "electronics accessory": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 106,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.5987092217088055,
+        8.306031122372529,
+        0.7410001811126008
+      ],
+      "rotation_wxyz": [
+        0.2996005012751971,
+        -0.00021237270637344162,
+        -0.00046484153195248436,
+        -0.9540646091622069
+      ],
+      "yaw_degrees_local": -145.19148593623723,
+      "yaw_radians": -2.533045045066558,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5987092217088055,
+        8.306031122372529,
+        0.7910002749899163
+      ],
+      "z_min": 0.7410001811126008,
+      "z_max": 0.8410003688672318
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.349742335110158,
+        8.881213662926355,
+        0.7404483568555846
+      ],
+      "rotation_wxyz": [
+        0.8453868732169743,
+        -0.0003948702098371693,
+        0.0003244338663325123,
+        0.5341542599405265
+      ],
+      "yaw_degrees_local": 64.51444617583894,
+      "yaw_radians": 1.127014035223377,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.349742335110158,
+        8.881213662926355,
+        0.7904484507329002
+      ],
+      "z_min": 0.7404483568555846,
+      "z_max": 0.8404485446102157
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        4.854022710254563,
+        8.118510357907367,
+        0.9544510686312053
+      ],
+      "rotation_wxyz": [
+        0.7024844012519296,
+        0.0,
+        0.0,
+        0.7116991400849928
+      ],
+      "yaw_degrees_local": 0.7466614582514239,
+      "yaw_radians": 1.5838280276391266,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.854022710254563,
+        8.118510357907367,
+        0.9886565883437072
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9886110683213355
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.21708865441875,
+        8.464535691311339,
+        0.7487738451226673
+      ],
+      "rotation_wxyz": [
+        0.9569500723413282,
+        -0.0004668970208948167,
+        0.0002078147928321218,
+        0.29025212809919376
+      ],
+      "yaw_degrees_local": 33.68739644797486,
+      "yaw_radians": 0.5889804160969132,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.21708865441875,
+        8.464535691311339,
+        0.7566031843074853
+      ],
+      "z_min": 0.7407610754971046,
+      "z_max": 0.7564197538667405
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.4604572934178357,
+        8.371228784143797,
+        0.7538933716721083
+      ],
+      "rotation_wxyz": [
+        0.41633182629941046,
+        -0.00015352939978869646,
+        0.00048745106384214123,
+        0.9092125984775957
+      ],
+      "yaw_degrees_local": 130.73485079597975,
+      "yaw_radians": 2.282778543444426,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4604572934178357,
+        8.371228784143797,
+        0.7671210212622754
+      ],
+      "z_min": 0.7408248779263976,
+      "z_max": 0.7672801771067317
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        1.7610664180055482,
+        8.385661022581841,
+        0.7453952098146522
+      ],
+      "rotation_wxyz": [
+        0.7458604389035002,
+        -0.0004204356568636913,
+        -0.0002905403150647239,
+        -0.66610205261571
+      ],
+      "yaw_degrees_local": -83.59257878869316,
+      "yaw_radians": -1.457940920696202,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7610664180055482,
+        8.385661022581841,
+        0.7498192392832059
+      ],
+      "z_min": 0.7410255504697999,
+      "z_max": 0.7498736094069073
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.9345686012168986,
+        8.288014813441887,
+        0.7885557280392309
+      ],
+      "rotation_wxyz": [
+        0.3014193642063772,
+        -9.245036204269828e-05,
+        0.0005026258517013292,
+        0.953491534153087
+      ],
+      "yaw_degrees_local": 144.8555380818683,
+      "yaw_radians": 2.529230985747676,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9345686012168986,
+        8.288014813441887,
+        0.8359546534673313
+      ],
+      "z_min": 0.7409759249269312,
+      "z_max": 0.8357737757831322
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.642006910949134,
+        8.874760550074647,
+        0.8702424014375634
+      ],
+      "rotation_wxyz": [
+        0.9508124080452713,
+        -0.0005017960420882484,
+        -9.68532311535421e-05,
+        -0.3097668535000742
+      ],
+      "yaw_degrees_local": -36.149076427712174,
+      "yaw_radians": -0.6298954937507844,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.642006910949134,
+        8.874760550074647,
+        1.0004095509523325
+      ],
+      "z_min": 0.7402912383219271,
+      "z_max": 1.0006255373514654
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.1264781249945472,
+        8.23359423307308,
+        0.7872188056207177
+      ],
+      "rotation_wxyz": [
+        0.43254302368924635,
+        -0.0001622317858746493,
+        0.0004846242502106499,
+        0.9016131495702291
+      ],
+      "yaw_degrees_local": 128.68317160005017,
+      "yaw_radians": 2.246969987512622,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1264781249945472,
+        8.23359423307308,
+        0.8334114055268002
+      ],
+      "z_min": 0.7410068041644868,
+      "z_max": 0.8333920039766517
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.3473585621843145,
+        8.321041120517,
+        0.8016913263956831
+      ],
+      "rotation_wxyz": [
+        0.9434763971550437,
+        -0.0004574550738385537,
+        0.00022784791344156727,
+        0.3314393260183862
+      ],
+      "yaw_degrees_local": 38.65361487719886,
+      "yaw_radians": 0.6756572764568868,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3473585621843145,
+        8.321041120517,
+        0.8623181928509427
+      ],
+      "z_min": 0.7410168355936008,
+      "z_max": 0.86227056850412
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        1.7711367252550692,
+        8.789806522811006,
+        0.7496482891961308
+      ],
+      "rotation_wxyz": [
+        0.9253213359974443,
+        -0.00044522373014506,
+        0.00025090963783009896,
+        0.3791835491791394
+      ],
+      "yaw_degrees_local": 44.50753368308199,
+      "yaw_radians": 0.7778274407363417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7711367252550692,
+        8.789806522811006,
+        0.758481535299613
+      ],
+      "z_min": 0.7406143796163315,
+      "z_max": 0.758280871823296
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.8896102352714514,
+        8.284722435835983,
+        0.7411116337092755
+      ],
+      "rotation_wxyz": [
+        0.21228947487488678,
+        -4.574880488146837e-05,
+        0.0005090057593900387,
+        0.9772066913798375
+      ],
+      "yaw_degrees_local": 155.42817601551576,
+      "yaw_radians": 2.713758260963612,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8896102352714514,
+        8.284722435835983,
+        0.7636086454230585
+      ],
+      "z_min": 0.74111163670421,
+      "z_max": 0.7861056601317761
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        1.7129018046227285,
+        8.639230332253325,
+        0.7443280418476259
+      ],
+      "rotation_wxyz": [
+        0.7981894604352207,
+        -0.000442937376721533,
+        -0.0002549240995734992,
+        -0.602406278246098
+      ],
+      "yaw_degrees_local": -74.1435811489336,
+      "yaw_radians": -1.2930247320433306,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7129018046227285,
+        8.639230332253325,
+        0.7479031024238457
+      ],
+      "z_min": 0.7407744744009224,
+      "z_max": 0.747924595553362
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        3.0885992307154204,
+        8.877302114417413,
+        0.7460872143469891
+      ],
+      "rotation_wxyz": [
+        0.8021007927079259,
+        -0.00044459032412578965,
+        -0.0002520302758281987,
+        -0.5971884603351784
+      ],
+      "yaw_degrees_local": -73.39632199502182,
+      "yaw_radians": -1.279982594780068,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0885992307154204,
+        8.877302114417413,
+        0.7517143412372079
+      ],
+      "z_min": 0.7403587130697845,
+      "z_max": 0.7516129668502222
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.5021382352056225,
+        8.242822144285826,
+        0.7446300946472098
+      ],
+      "rotation_wxyz": [
+        0.9522068748898523,
+        -0.000502229941616028,
+        -9.457749195592868e-05,
+        -0.3054534436418834
+      ],
+      "yaw_degrees_local": -35.62960768838576,
+      "yaw_radians": -0.620829056438522,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5021382352056225,
+        8.242822144285826,
+        0.7482051552234296
+      ],
+      "z_min": 0.7410765272005062,
+      "z_max": 0.7482266483529458
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.9565397425651563,
+        8.812700188660552,
+        0.7405676646347948
+      ],
+      "rotation_wxyz": [
+        0.9346170116312004,
+        -0.0004964901640175393,
+        -0.00012115004446614788,
+        -0.35565542367542874
+      ],
+      "yaw_degrees_local": -41.725954361415035,
+      "yaw_radians": -0.7272303530379908,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9565397425651563,
+        8.812700188660552,
+        0.8905676705952593
+      ],
+      "z_min": 0.7405676646347948,
+      "z_max": 1.0405676765557237
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        2.0077816948907747,
+        8.596439233579233,
+        0.7465090153109205
+      ],
+      "rotation_wxyz": [
+        0.9992909122482079,
+        -0.0005043713119291922,
+        8.239779088748745e-05,
+        0.037648526110972344
+      ],
+      "yaw_degrees_local": 4.256513264139102,
+      "yaw_radians": 0.07531475972246901,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0077816948907747,
+        8.596439233579233,
+        0.7521361422011393
+      ],
+      "z_min": 0.7407805140337159,
+      "z_max": 0.7520347678141536
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.412999419418335,
+        8.746711596995556,
+        0.7435709882426165
+      ],
+      "rotation_wxyz": [
+        0.5913091006960753,
+        -0.00024877356073797253,
+        0.00044642080117089406,
+        0.8064448439007982
+      ],
+      "yaw_degrees_local": 107.4413564289909,
+      "yaw_radians": 1.8762303104515268,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.412999419418335,
+        8.746711596995556,
+        0.7465835047277759
+      ],
+      "z_min": 0.740450058945151,
+      "z_max": 0.7464750919154698
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.4069620841946153,
+        8.206120498144383,
+        0.7476575338835477
+      ],
+      "rotation_wxyz": [
+        0.7360838841335973,
+        -0.0004161612408025442,
+        -0.00029663047364355443,
+        -0.6768901346149027
+      ],
+      "yaw_degrees_local": -85.2609293188687,
+      "yaw_radians": -1.4870591442511034,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4069620841946153,
+        8.206120498144383,
+        0.7542703381670355
+      ],
+      "z_min": 0.7409991106173914,
+      "z_max": 0.754224719184367
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.724041395841464,
+        8.233025701903907,
+        0.8172079120969379
+      ],
+      "rotation_wxyz": [
+        0.5912638937273959,
+        -0.0002487485358006853,
+        0.0004464347457101964,
+        0.8064779890328705
+      ],
+      "yaw_degrees_local": 107.44777996880657,
+      "yaw_radians": 1.8763424224091718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.724041395841464,
+        8.233025701903907,
+        0.893393850619024
+      ],
+      "z_min": 0.7410583856097356,
+      "z_max": 0.8934302626539079
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.5665902521956783,
+        8.666151174037438,
+        0.7546114456276436
+      ],
+      "rotation_wxyz": [
+        0.5417913608121627,
+        -0.00032799799036830165,
+        -0.0003919147031621397,
+        -0.8405128554457029
+      ],
+      "yaw_degrees_local": -114.44736478564953,
+      "yaw_radians": -1.9964587936881597,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5665902521956783,
+        8.666151174037438,
+        0.7687033709192378
+      ],
+      "z_min": 0.7405123115223137,
+      "z_max": 0.7686961621055022
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.5636798936296876,
+        8.880455449687512,
+        0.8179568115103762
+      ],
+      "rotation_wxyz": [
+        0.999405805466822,
+        -0.0005089979507622201,
+        4.5835601448799385e-05,
+        -0.034464109148455345
+      ],
+      "yaw_degrees_local": -4.0087891636417226,
+      "yaw_radians": -0.06894190864952866,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5636798936296876,
+        8.880455449687512,
+        0.8956636453438087
+      ],
+      "z_min": 0.7404220602325304,
+      "z_max": 0.8958357278993954
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.7527525239614894,
+        8.563415303525456,
+        0.8705441462116369
+      ],
+      "rotation_wxyz": [
+        0.696092530022029,
+        -0.00030751698590415825,
+        0.0004081827037255919,
+        0.7179518984359012
+      ],
+      "yaw_degrees_local": 91.71259149284475,
+      "yaw_radians": 1.6017114569799744,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7527525239614894,
+        8.563415303525456,
+        1.000711295726406
+      ],
+      "z_min": 0.7405929830960007,
+      "z_max": 1.000927282125539
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.1981787726720214,
+        8.331358591351455,
+        0.8228094591303133
+      ],
+      "rotation_wxyz": [
+        0.8759504145733003,
+        -0.0004747687901820206,
+        -0.00018914124909551883,
+        -0.48240088104091144
+      ],
+      "yaw_degrees_local": -57.743368844191735,
+      "yaw_radians": -1.0067869611339175,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1981787726720214,
+        8.331358591351455,
+        0.9047454681711322
+      ],
+      "z_min": 0.7408985825017862,
+      "z_max": 0.9047706005834237
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.628122685473225,
+        8.498196087742354,
+        0.787771126259134
+      ],
+      "rotation_wxyz": [
+        0.17277766762857807,
+        -2.5220515152626807e-05,
+        0.000510434855643449,
+        0.9849607181959149
+      ],
+      "yaw_degrees_local": 160.04257103118186,
+      "yaw_radians": 2.794294610643858,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.628122685473225,
+        8.498196087742354,
+        0.8348768769457665
+      ],
+      "z_min": 0.7406748779833194,
+      "z_max": 0.8348863793565844
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.5935326387610393,
+        8.214342938294369,
+        0.7466569326790695
+      ],
+      "rotation_wxyz": [
+        0.01874593430765591,
+        -7.28457658029097e-05,
+        -0.0005058392142221678,
+        -0.9998241489217576
+      ],
+      "yaw_degrees_local": -177.91045846890623,
+      "yaw_radians": -3.104098666930924,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5935326387610393,
+        8.214342938294369,
+        0.7524879837038557
+      ],
+      "z_min": 0.7409671319497448,
+      "z_max": 0.7526292339993172
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        4.892926483023439,
+        8.781436185073245,
+        0.9667902627610319
+      ],
+      "rotation_wxyz": [
+        0.8240531689643928,
+        0.0,
+        0.0,
+        0.5665124665175003
+      ],
+      "yaw_degrees_local": -20.985228531633283,
+      "yaw_radians": 1.2045349946344406,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.892926483023439,
+        8.781436185073245,
+        1.01337186602695
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0133632354281679
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.0318244325959243,
+        8.336600622181354,
+        0.818575793259067
+      ],
+      "rotation_wxyz": [
+        0.9776048654267832,
+        -0.00050909103720367,
+        -4.478986580917717e-05,
+        -0.21044824996674447
+      ],
+      "yaw_degrees_local": -24.35595788771056,
+      "yaw_radians": -0.4240668201146088,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0318244325959243,
+        8.336600622181354,
+        0.8962826270924995
+      ],
+      "z_min": 0.7410410419812212,
+      "z_max": 0.8964547096480862
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        4.970688856780629,
+        8.377776754615557,
+        1.0204195154605271
+      ],
+      "rotation_wxyz": [
+        0.8874794193859821,
+        0.0,
+        0.0,
+        -0.46084735017825595
+      ],
+      "yaw_degrees_local": -144.8835979744165,
+      "yaw_radians": -0.957899489994458,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.970688856780629,
+        8.377776754615557,
+        1.1205082165525402
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.1203774310803578
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.378314278458708,
+        8.499570969684981,
+        0.806009457532537
+      ],
+      "rotation_wxyz": [
+        0.3528548134035602,
+        -0.00023821401271352844,
+        -0.0004521436722848518,
+        -0.9356779464527967
+      ],
+      "yaw_degrees_local": -138.73464877146182,
+      "yaw_radians": -2.420351976832539,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.378314278458708,
+        8.499570969684981,
+        0.8713651818941786
+      ],
+      "z_min": 0.7407051440500345,
+      "z_max": 0.8714165927733175
+    }
+  ],
+  "variant_index": 126
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0131/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0131/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..9c35cf17bfa6c6b1a35e135dc1185e0080299b62
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0131/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 9198006907524300288
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.231530994, -0.000179042206, -0.00047866868, -0.972827393)
+            double3 xformOp:translate = (3.50882637514, 8.64283096224, 0.740239578626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.789630292, -0.000361563323, 0.00036118109, 0.613582709)
+            double3 xformOp:translate = (1.86313895188, 8.33017902233, 0.741068887113)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.412625579, -0.000151542968, 0.000488072274, 0.910900582)
+            double3 xformOp:translate = (3.71517599711, 8.88166368868, 0.840494437365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.263239004, -0.000194608902, -0.000472553903, -0.964730515)
+            double3 xformOp:translate = (2.61162864056, 8.22530438833, 0.78042640437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.102808917, -0.000115150891, -0.000497915744, -0.994700993)
+            double3 xformOp:translate = (3.48837215008, 8.29377177732, 0.74618710756)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900791729, -0.000484315901, -0.000163150006, -0.43425108)
+            double3 xformOp:translate = (3.64055316279, 8.46515085993, 0.744260363263)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.650799587, -0.000281931993, 0.000426255988, 0.75924939)
+            double3 xformOp:translate = (1.82918845106, 8.69240749886, 0.757483387777)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.752360855, -0.000423266428, -0.000286400675, -0.658751003)
+            double3 xformOp:translate = (1.7838323328, 8.85552649487, 0.757323693914)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.099989383, 1.23268428e-05, 0.000510908862, 0.994988373)
+            double3 xformOp:translate = (2.30405578781, 8.85758232653, 0.826865415222)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.775494621, -0.000353269079, 0.000369297676, 0.631353967)
+            double3 xformOp:translate = (3.34746430226, 8.47453999919, 0.818101963661)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.866822657, -0.000471167214, -0.000197942598, -0.498616306)
+            double3 xformOp:translate = (3.12806453113, 8.25733890773, 0.746345961961)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.756116271, -0.000341979679, 0.000379775875, 0.654437105)
+            double3 xformOp:translate = (3.00537265639, 8.87185778423, 0.78747104967)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.212865356, -4.60487803e-05, 0.000508978709, 0.977081409)
+            double3 xformOp:translate = (3.63846851856, 8.3002706823, 0.765901001571)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.366313223, -0.00024471042, -0.000448660926, -0.930491462)
+            double3 xformOp:translate = (3.65165344814, 8.77897598352, 0.770979112716)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.623663752, -0.000266749191, 0.000435918209, 0.781692563)
+            double3 xformOp:translate = (2.84598857337, 8.33250148867, 0.78715402904)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.675179823, -0.00038912518, -0.000331302596, -0.737652998)
+            double3 xformOp:translate = (2.05920024209, 8.77963925048, 0.744141758205)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.163622573, -2.04788567e-05, 0.000510647073, 0.98652288)
+            double3 xformOp:translate = (3.35953325281, 8.83133246758, 0.787467279205)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.699076856, -0.000399811604, -0.000318324517, -0.715046354)
+            double3 xformOp:translate = (2.03564131415, 8.580068042, 0.806097932981)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988866164, 0, 0, 0.148807629)
+            double3 xformOp:translate = (4.97195143979, 8.2299298737, 0.976359949066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.496536177, -0.000306790696, -0.000408728865, -0.868015878)
+            double3 xformOp:translate = (3.48537200283, 8.87956842869, 0.765332856657)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.556804545, -0.000334986179, -0.000385958645, -0.830643388)
+            double3 xformOp:translate = (3.73621827945, 8.2220551729, 0.787153254146)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.899122309, -0.000428230916, 0.000278923106, 0.437697171)
+            double3 xformOp:translate = (2.57110837618, 8.33272880507, 0.813748857337)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.213073133, -0.000169948555, -0.000481972307, -0.97703612)
+            double3 xformOp:translate = (2.25644563035, 8.22526735534, 0.74463488914)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976983386, -0.000508957472, -4.62829076e-05, -0.213314795)
+            double3 xformOp:translate = (1.69555865254, 8.43899684731, 0.740979753185)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.962407591, -0.000505258814, -7.67681369e-05, -0.271608849)
+            double3 xformOp:translate = (2.02635421097, 8.33788337981, 0.746768897819)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.9245894, -0.000493008365, -0.000134620088, -0.380964801)
+            double3 xformOp:translate = (3.14767682926, 8.82459959939, 0.779750661977)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.79983951, 0, 0, -0.600213927)
+            double3 xformOp:translate = (4.84262129208, 8.13200715726, 0.92548724005)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.245420571, -0.000185869754, -0.000476059083, -0.969416568)
+            double3 xformOp:translate = (2.88012118088, 8.26287939014, 0.746698095479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.230127488, -5.50510834e-05, 0.000508083846, 0.973160356)
+            double3 xformOp:translate = (3.23630834364, 8.59304826957, 0.788051368909)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.290505294, -8.67014297e-05, 0.000503649361, 0.956873248)
+            double3 xformOp:translate = (2.81586146013, 8.861474831, 0.826796620966)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0131/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0131/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..453088334eaa00e9dd6450ee8565793df5acfe4b
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0131/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 9198006907524300288,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 3,
+    "electronics": 7,
+    "drinkware": 7,
+    "office_supplies": 3,
+    "small prop": 2,
+    "paper_goods": 1,
+    "office_supply": 1,
+    "decorative_object": 2,
+    "small object": 4
+  },
+  "failed_sampling_attempt_count": 175,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.508826375143701,
+        8.642830962241872,
+        0.74023957862616
+      ],
+      "rotation_wxyz": [
+        0.23153099433235697,
+        -0.0001790422058558098,
+        -0.00047866867952958697,
+        -0.9728273934689823
+      ],
+      "yaw_degrees_local": -153.28425775762153,
+      "yaw_radians": -2.674290541026762,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.508826375143701,
+        8.642830962241872,
+        0.7490516460306658
+      ],
+      "z_min": 0.740543274855981,
+      "z_max": 0.7581674096649926
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        1.8631389518799493,
+        8.330179022329014,
+        0.7410688871127812
+      ],
+      "rotation_wxyz": [
+        0.7896302921686659,
+        -0.00036156332250617256,
+        0.00036118109039456935,
+        0.613582708776748
+      ],
+      "yaw_degrees_local": 75.6393200484944,
+      "yaw_radians": 1.3211798041498202,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8631389518799493,
+        8.330179022329014,
+        0.9185688817483632
+      ],
+      "z_min": 0.7410688871127812,
+      "z_max": 1.0960688763839452
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.7151759971131386,
+        8.881663688681462,
+        0.84049443736499
+      ],
+      "rotation_wxyz": [
+        0.4126255794211708,
+        -0.00015154296819419567,
+        0.00048807227439305096,
+        0.9109005818570581
+      ],
+      "yaw_degrees_local": 131.2015294899249,
+      "yaw_radians": 2.2909236227361536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7151759971131386,
+        8.881663688681462,
+        0.9405831384570029
+      ],
+      "z_min": 0.7402749508007946,
+      "z_max": 0.9404523529848207
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.611628640563466,
+        8.225304388326364,
+        0.7804264043696912
+      ],
+      "rotation_wxyz": [
+        0.26323900357348745,
+        -0.00019460890160483832,
+        -0.00047255390344009537,
+        -0.9647305146090392
+      ],
+      "yaw_degrees_local": -149.53402568630642,
+      "yaw_radians": -2.608836654486581,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.611628640563466,
+        8.225304388326364,
+        0.8197752636955671
+      ],
+      "z_min": 0.7410804404117549,
+      "z_max": 0.8197781590635066
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.48837215007882,
+        8.293771777316422,
+        0.7461871075601076
+      ],
+      "rotation_wxyz": [
+        0.10280891710917206,
+        -0.00011515089099481837,
+        -0.000497915744422098,
+        -0.9947009929536732
+      ],
+      "yaw_degrees_local": -168.25682182834143,
+      "yaw_radians": -2.9356109999661526,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.48837215007882,
+        8.293771777316422,
+        0.7514880981912211
+      ],
+      "z_min": 0.74089989640684,
+      "z_max": 0.751501877669067
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.6405531627868943,
+        8.465150859928867,
+        0.7442603632630266
+      ],
+      "rotation_wxyz": [
+        0.9007917286901153,
+        -0.00048431590086141755,
+        -0.00016315000586302828,
+        -0.4342510798416715
+      ],
+      "yaw_degrees_local": -51.534014628394004,
+      "yaw_radians": -0.8984132808014044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6405531627868943,
+        8.465150859928867,
+        0.7478354238392464
+      ],
+      "z_min": 0.740706795816323,
+      "z_max": 0.7478569169687627
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.8291884510582397,
+        8.692407498862945,
+        0.7574833877773954
+      ],
+      "rotation_wxyz": [
+        0.650799587378888,
+        -0.0002819319934559691,
+        0.00042625598800046904,
+        0.7592493897841823
+      ],
+      "yaw_degrees_local": 98.73744776348127,
+      "yaw_radians": 1.724318386370797,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8291884510582397,
+        8.692407498862945,
+        0.7744344029698009
+      ],
+      "z_min": 0.7407058136667432,
+      "z_max": 0.774607844051554
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_001_closed_book_cream_rectangular_4715ca1b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13615198673541834,
+        0.17242117553114855,
+        0.03390203038481088
+      ],
+      "bbox_min_m": [
+        -0.0680690712574876,
+        -0.08629584925974942,
+        -0.01677757411065225
+      ],
+      "bbox_max_m": [
+        0.06808291547793077,
+        0.08612532627139916,
+        0.01712445627415857
+      ],
+      "translation_world": [
+        1.7838323327951149,
+        8.85552649487435,
+        0.757323693913901
+      ],
+      "rotation_wxyz": [
+        0.7523608545138402,
+        -0.00042326642832636596,
+        -0.0002864006754394164,
+        -0.6587510025915622
+      ],
+      "yaw_degrees_local": -82.46809667534623,
+      "yaw_radians": -1.4383149964124644,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7838323327951149,
+        8.85552649487435,
+        0.7742747091063065
+      ],
+      "z_min": 0.7405461198032487,
+      "z_max": 0.7744481501880596
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.304055787813291,
+        8.857582326528792,
+        0.8268654152216842
+      ],
+      "rotation_wxyz": [
+        0.09998938296825716,
+        1.2326842800160963e-05,
+        0.000510908861918535,
+        0.9949883728535782
+      ],
+      "yaw_degrees_local": 168.46416987305645,
+      "yaw_radians": 2.9412791656095343,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.304055787813291,
+        8.857582326528792,
+        0.9132646941799509
+      ],
+      "z_min": 0.7404781581793233,
+      "z_max": 0.9132767160958566
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.3474643022627024,
+        8.474539999187755,
+        0.81810196366101
+      ],
+      "rotation_wxyz": [
+        0.7754946212192352,
+        -0.0003532690793639396,
+        0.0003692976764152019,
+        0.6313539667098155
+      ],
+      "yaw_degrees_local": 78.24147483585108,
+      "yaw_radians": 1.366595996053333,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3474643022627024,
+        8.474539999187755,
+        0.8954837187943494
+      ],
+      "z_min": 0.7407344462936266,
+      "z_max": 0.8954979565603055
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.128064531128163,
+        8.257338907732516,
+        0.7463459619611426
+      ],
+      "rotation_wxyz": [
+        0.8668226566245123,
+        -0.0004711672144793929,
+        -0.00019794259834619334,
+        -0.49861630617400265
+      ],
+      "yaw_degrees_local": -59.87571442468146,
+      "yaw_radians": -1.0440034167619217,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.128064531128163,
+        8.257338907732516,
+        0.7516814026561434
+      ],
+      "z_min": 0.7409824992143325,
+      "z_max": 0.7516533806043341
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.0053726563858514,
+        8.871857784232748,
+        0.7874710496695251
+      ],
+      "rotation_wxyz": [
+        0.7561162705093756,
+        -0.0003419796791585505,
+        0.0003797758750670288,
+        0.6544371049162607
+      ],
+      "yaw_degrees_local": 81.69526661079686,
+      "yaw_radians": 1.4268760655174055,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0053726563858514,
+        8.871857784232748,
+        0.8345768003561576
+      ],
+      "z_min": 0.7403748013937105,
+      "z_max": 0.8345863027669754
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.638468518557707,
+        8.300270682296127,
+        0.7659010015713846
+      ],
+      "rotation_wxyz": [
+        0.21286535626832437,
+        -4.604878026078883e-05,
+        0.0005089787088639428,
+        0.9770814085432921
+      ],
+      "yaw_degrees_local": 155.36064130066927,
+      "yaw_radians": 2.7125795583354115,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.638468518557707,
+        8.300270682296127,
+        0.79084524314151
+      ],
+      "z_min": 0.7408742979413546,
+      "z_max": 0.7907627810816052
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.651653448136588,
+        8.778975983519752,
+        0.7709791127164862
+      ],
+      "rotation_wxyz": [
+        0.36631322287314194,
+        -0.00024471042031567157,
+        -0.0004486609258997711,
+        -0.9304914623834417
+      ],
+      "yaw_degrees_local": -137.081858430134,
+      "yaw_radians": -2.3915053412932856,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.651653448136588,
+        8.778975983519752,
+        0.801581514221879
+      ],
+      "z_min": 0.7403871119831107,
+      "z_max": 0.8015919149938963
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.8459885733749255,
+        8.332501488668663,
+        0.7871540290399719
+      ],
+      "rotation_wxyz": [
+        0.6236637520709613,
+        -0.0002667491911556954,
+        0.0004359182093674166,
+        0.7816925630789605
+      ],
+      "yaw_degrees_local": 102.77292268316381,
+      "yaw_radians": 1.7947507403901315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8459885733749255,
+        8.332501488668663,
+        0.8333466289460544
+      ],
+      "z_min": 0.7409420275837411,
+      "z_max": 0.8333272273959059
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.059200242091471,
+        8.779639250480782,
+        0.7441417582047433
+      ],
+      "rotation_wxyz": [
+        0.6751798234972108,
+        -0.0003891251802540811,
+        -0.0003313025963262913,
+        -0.7376529975282817
+      ],
+      "yaw_degrees_local": -95.12246454625341,
+      "yaw_radians": -1.6591754900856046,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.059200242091471,
+        8.779639250480782,
+        0.7477168187809631
+      ],
+      "z_min": 0.7405881907580397,
+      "z_max": 0.7477383119104793
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.359533252814892,
+        8.831332467578708,
+        0.787467279205299
+      ],
+      "rotation_wxyz": [
+        0.16362257278368303,
+        -2.0478856684909416e-05,
+        0.0005106470725160299,
+        0.9865228798643406
+      ],
+      "yaw_degrees_local": 161.10683456485583,
+      "yaw_radians": 2.8128695045861565,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.359533252814892,
+        8.831332467578708,
+        0.8345730298919315
+      ],
+      "z_min": 0.7403710309294844,
+      "z_max": 0.8345825323027494
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.035641314145222,
+        8.580068042001981,
+        0.8060979329805398
+      ],
+      "rotation_wxyz": [
+        0.6990768561535077,
+        -0.00039981160364711664,
+        -0.0003183245165384431,
+        -0.7150463537496796
+      ],
+      "yaw_degrees_local": -91.3527220218726,
+      "yaw_radians": -1.5933810370637302,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.035641314145222,
+        8.580068042001981,
+        0.8714536573421813
+      ],
+      "z_min": 0.7407936194980372,
+      "z_max": 0.8715050682213202
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        4.971951439789021,
+        8.229929873700678,
+        0.976359949066296
+      ],
+      "rotation_wxyz": [
+        0.9888661636625862,
+        0.0,
+        0.0,
+        0.14880762871317915
+      ],
+      "yaw_degrees_local": -72.8843335468207,
+      "yaw_radians": 0.29872473328111865,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.971951439789021,
+        8.229929873700678,
+        1.0325422288761885
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.032564588516117
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.4853720028297435,
+        8.879568428691082,
+        0.7653328566567837
+      ],
+      "rotation_wxyz": [
+        0.49653617664494343,
+        -0.00030679069579267736,
+        -0.00040872886516046,
+        -0.8680158777942979
+      ],
+      "yaw_degrees_local": -120.5165045195505,
+      "yaw_radians": -2.1023853067384297,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4853720028297435,
+        8.879568428691082,
+        0.7902770982269091
+      ],
+      "z_min": 0.7403061530267537,
+      "z_max": 0.7901946361670044
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.7362182794491776,
+        8.22205517290463,
+        0.7871532541461049
+      ],
+      "rotation_wxyz": [
+        0.5568045448995887,
+        -0.0003349861794283065,
+        -0.00038595864523591005,
+        -0.8306433877419033
+      ],
+      "yaw_degrees_local": -112.38850536134603,
+      "yaw_radians": -1.9605249020669175,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7362182794491776,
+        8.22205517290463,
+        0.8333458540521874
+      ],
+      "z_min": 0.7409412526898741,
+      "z_max": 0.833326452502039
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.5711083761777833,
+        8.332728805070277,
+        0.8137488573369663
+      ],
+      "rotation_wxyz": [
+        0.899122308539543,
+        -0.0004282309155577583,
+        0.00027892310625130483,
+        0.4376971705491216
+      ],
+      "yaw_degrees_local": 51.85538410544052,
+      "yaw_radians": 0.9060716471884994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5711083761777833,
+        8.332728805070277,
+        0.8866113019437101
+      ],
+      "z_min": 0.7409766385350899,
+      "z_max": 0.8867015277485772
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        2.256445630353493,
+        8.225267355340078,
+        0.7446348891403303
+      ],
+      "rotation_wxyz": [
+        0.21307313254275873,
+        -0.0001699485547129436,
+        -0.00048197230728673013,
+        -0.9770361196028527
+      ],
+      "yaw_degrees_local": -155.45369368972237,
+      "yaw_radians": -2.712154332790895,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.256445630353493,
+        8.225267355340078,
+        0.7482151686216554
+      ],
+      "z_min": 0.7411254613375781,
+      "z_max": 0.7482860203002282
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.6955586525365594,
+        8.438996847311186,
+        0.7409797531848986
+      ],
+      "rotation_wxyz": [
+        0.9769833862481169,
+        -0.0005089574723893304,
+        -4.6282907637448925e-05,
+        -0.21331479511591997
+      ],
+      "yaw_degrees_local": -24.69207127821963,
+      "yaw_radians": -0.4299331029194153,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6955586525365594,
+        8.438996847311186,
+        0.7909798470622141
+      ],
+      "z_min": 0.7409797531848986,
+      "z_max": 0.8409799409395297
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_round_silver_metal_tray_001_round_silver_metal_tray_71f1b3c9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09481680227207534,
+        0.0949016983590893,
+        0.01125425378043762
+      ],
+      "bbox_min_m": [
+        -0.04738849986055119,
+        -0.047443000439979115,
+        -0.005728501277204596
+      ],
+      "bbox_max_m": [
+        0.04742830241152417,
+        0.047458697919110206,
+        0.005525752503233018
+      ],
+      "translation_world": [
+        2.0263542109715824,
+        8.337883379812945,
+        0.7467688978188629
+      ],
+      "rotation_wxyz": [
+        0.9624075914789565,
+        -0.0005052588142728779,
+        -7.676813687903371e-05,
+        -0.27160884868475443
+      ],
+      "yaw_degrees_local": -31.57876498750383,
+      "yaw_radians": -0.5501285361122348,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0263542109715824,
+        8.337883379812945,
+        0.7523960247090817
+      ],
+      "z_min": 0.7410403965416583,
+      "z_max": 0.752294650322096
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.1476768292598543,
+        8.824599599389698,
+        0.7797506619767782
+      ],
+      "rotation_wxyz": [
+        0.9245894003564654,
+        -0.0004930083651477307,
+        -0.00013462008815431106,
+        -0.38096480095758944
+      ],
+      "yaw_degrees_local": -44.84563149938788,
+      "yaw_radians": -0.781678982010628,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1476768292598543,
+        8.824599599389698,
+        0.8190995213026541
+      ],
+      "z_min": 0.7404046980188419,
+      "z_max": 0.8191024166705936
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        4.842621292076651,
+        8.132007157259055,
+        0.9254872400495995
+      ],
+      "rotation_wxyz": [
+        0.7998395099715555,
+        0.0,
+        0.0,
+        -0.6002139271030472
+      ],
+      "yaw_degrees_local": -163.77044116579884,
+      "yaw_radians": -1.2875370889919537,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.842621292076651,
+        8.132007157259055,
+        0.9307882306807129
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308020101585588
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.8801211808764045,
+        8.2628793901394,
+        0.7466980954788645
+      ],
+      "rotation_wxyz": [
+        0.24542057142009283,
+        -0.000185869754362572,
+        -0.0004760590831540868,
+        -0.9694165678097415
+      ],
+      "yaw_degrees_local": -151.64532753804644,
+      "yaw_radians": -2.6456858177341047,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8801211808764045,
+        8.2628793901394,
+        0.7525291465036507
+      ],
+      "z_min": 0.7410082947495398,
+      "z_max": 0.7526703967991122
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.236308343636356,
+        8.593048269570836,
+        0.788051368908657
+      ],
+      "rotation_wxyz": [
+        0.23012748771958927,
+        -5.5051083377696754e-05,
+        0.0005080838458948036,
+        0.9731603558592254
+      ],
+      "yaw_degrees_local": 153.33213085070184,
+      "yaw_radians": 2.677175386849032,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.236308343636356,
+        8.593048269570836,
+        0.8355038946476374
+      ],
+      "z_min": 0.7406283193352284,
+      "z_max": 0.8355333708131893
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.8158614601286827,
+        8.861474831002898,
+        0.8267966209662783
+      ],
+      "rotation_wxyz": [
+        0.290505294386171,
+        -8.670142967812482e-05,
+        0.0005036493605000226,
+        0.9568732480082135
+      ],
+      "yaw_degrees_local": 146.16486568366486,
+      "yaw_radians": 2.5520830564755186,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8158614601286827,
+        8.861474831002898,
+        0.913195899924545
+      ],
+      "z_min": 0.7404093639239173,
+      "z_max": 0.9132079218404506
+    }
+  ],
+  "variant_index": 131
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0132/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0132/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..22c8a301610f7c302612d18385382094a709567c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0132/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 893675520548548568
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.449637173, -0.000284603597, -0.000424476865, -0.893211146)
+            double3 xformOp:translate = (3.52335650124, 8.83511626902, 0.740346409091)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.197140379, -3.78657341e-05, 0.000509652825, 0.980375137)
+            double3 xformOp:translate = (3.44305053642, 8.35631128619, 0.740842203367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.629551629, -0.000368476419, -0.000354125606, -0.776958483)
+            double3 xformOp:translate = (1.82834050326, 8.53543094241, 0.787455381215)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.796015, -0.000442016514, -0.000256517479, -0.60527668)
+            double3 xformOp:translate = (1.77850528219, 8.25976041524, 0.752394130044)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.116104367, -0.000121800474, -0.000496330999, -0.993236888)
+            double3 xformOp:translate = (3.61741088096, 8.51307312724, 0.748673895619)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.236043325, -5.81409272e-05, 0.000507739548, 0.971742398)
+            double3 xformOp:translate = (3.14552759727, 8.29476129246, 0.740942328836)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.20220878, -4.05014312e-05, 0.000509450145, 0.979342304)
+            double3 xformOp:translate = (2.00702537299, 8.72228918413, 0.822563885214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.88100459, -0.000416799871, 0.000295732453, 0.473107442)
+            double3 xformOp:translate = (1.73267227432, 8.73874188887, 0.840890578696)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.416662012, -0.000153706425, 0.000487395272, 0.909061333)
+            double3 xformOp:translate = (3.64627846049, 8.75167662824, 0.752925863575)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0578345504, 3.39156748e-05, 0.00050993092, 0.998326051)
+            double3 xformOp:translate = (3.23678500445, 8.37154643667, 0.788432716422)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.560153392, -0.0003365416, -0.00038460313, -0.828388747)
+            double3 xformOp:translate = (2.22802809708, 8.85031974407, 0.840752169641)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.763367626, -0.000346193727, 0.000375938452, 0.645964091)
+            double3 xformOp:translate = (2.43496648439, 8.28847360187, 0.746978990668)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929922295, -0.00044828091, 0.000245405873, 0.367755712)
+            double3 xformOp:translate = (3.07413656969, 8.89034504591, 0.770939330665)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.752370329, -0.00033980745, 0.000381720726, 0.658740182)
+            double3 xformOp:translate = (3.40058839377, 8.76964235782, 0.767027619157)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.129536417, -2.8731982e-06, 0.00051104947, 0.991574534)
+            double3 xformOp:translate = (2.57288621809, 8.87858447274, 0.788002578851)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.694820865, -0.00039791536, -0.000320691725, -0.719182664)
+            double3 xformOp:translate = (3.73460300114, 8.40363845659, 0.870708496596)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.114166062, 5.0408977e-06, 0.000511032685, 0.993461549)
+            double3 xformOp:translate = (2.71779461056, 8.22823347633, 0.776030118988)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998295368, -0.000509948761, 3.36463651e-05, -0.0583617787)
+            double3 xformOp:translate = (2.05108011243, 8.9084364078, 0.804707093804)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.706621594, 0, 0, 0.707591635)
+            double3 xformOp:translate = (4.85800223281, 8.66382532634, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.374771258, -0.000248785861, -0.000446413946, -0.927117168)
+            double3 xformOp:translate = (1.88159140827, 8.63594963086, 0.870707657773)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999503823, -0.0005048692, 7.92900175e-05, 0.0314935997)
+            double3 xformOp:translate = (3.35048517688, 8.89150105932, 0.794221189948)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.79930009, -0.000367268469, 0.000355378232, 0.600931863)
+            double3 xformOp:translate = (1.96236563387, 8.35956807686, 0.818986350145)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.600309121, -0.000253760602, 0.000443604974, 0.799767903)
+            double3 xformOp:translate = (2.96863403054, 8.28145040139, 0.775944363035)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.520613514, -0.000209923213, 0.000465952853, 0.85379231)
+            double3 xformOp:translate = (1.9530159615, 8.84474412174, 0.818495453603)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983563698, -0.000510219468, -2.92559508e-05, -0.180560766)
+            double3 xformOp:translate = (3.61941224482, 8.23137210975, 0.747605005213)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.371761473, -0.000247336268, -0.000447218724, -0.928328146)
+            double3 xformOp:translate = (3.50272664794, 8.59147969049, 0.745849280382)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.13537364, -0.000131417502, -0.0004938717, -0.990794488)
+            double3 xformOp:translate = (2.87768637931, 8.86398709761, 0.774468598101)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.80334378, 0, 0, 0.59551555)
+            double3 xformOp:translate = (4.94796578744, 8.2265092219, 0.929019532894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.756992172, -0.00034248806, 0.000379317473, 0.653423744)
+            double3 xformOp:translate = (2.24765852983, 8.3151381996, 0.780392517011)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.298323513, -9.08187575e-05, 0.000502923224, 0.954464677)
+            double3 xformOp:translate = (1.79848427227, 8.89182560342, 0.774577099509)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0132/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0132/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d01d5049bc67cf1425204de4eb18d08071ce23f6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0132/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 893675520548548568,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 5,
+    "small object": 5,
+    "paper goods": 2,
+    "drinkware/container": 1,
+    "office_supply": 2,
+    "clock": 2,
+    "writing_instrument": 2,
+    "small_electronics": 1,
+    "small prop": 2,
+    "electronics accessory": 1
+  },
+  "failed_sampling_attempt_count": 174,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.5233565012428016,
+        8.835116269017991,
+        0.7403464090910581
+      ],
+      "rotation_wxyz": [
+        0.44963717274719395,
+        -0.0002846035965358885,
+        -0.000424476865187197,
+        -0.8932111462045769
+      ],
+      "yaw_degrees_local": -126.61788745713038,
+      "yaw_radians": -2.2088745615107386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5233565012428016,
+        8.835116269017991,
+        0.7628434208048411
+      ],
+      "z_min": 0.7403464120859926,
+      "z_max": 0.7853404355135587
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.443050536417461,
+        8.3563112861922,
+        0.7408422033670476
+      ],
+      "rotation_wxyz": [
+        0.19714037936877365,
+        -3.78657340623632e-05,
+        0.0005096528253862927,
+        0.9803751372013266
+      ],
+      "yaw_degrees_local": 157.2017149745729,
+      "yaw_radians": 2.744712341654849,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.443050536417461,
+        8.3563112861922,
+        0.7633392150808307
+      ],
+      "z_min": 0.7408422063619822,
+      "z_max": 0.7858362297895483
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        1.8283405032638254,
+        8.535430942407118,
+        0.7874553812149683
+      ],
+      "rotation_wxyz": [
+        0.6295516293719496,
+        -0.00036847641885144806,
+        -0.000354125606234179,
+        -0.7769584833022337
+      ],
+      "yaw_degrees_local": -102.02459768130947,
+      "yaw_radians": -1.7796405014029886,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8283405032638254,
+        8.535430942407118,
+        0.8340369844808863
+      ],
+      "z_min": 0.7408651473502682,
+      "z_max": 0.8340283538821042
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        1.7785052821934075,
+        8.259760415235842,
+        0.7523941300436455
+      ],
+      "rotation_wxyz": [
+        0.7960149997204882,
+        -0.00044201651449220556,
+        -0.00025651747924161904,
+        -0.6052766797425582
+      ],
+      "yaw_degrees_local": -74.55623013504281,
+      "yaw_radians": -1.30022681813535,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7785052821934075,
+        8.259760415235842,
+        0.7636271292675577
+      ],
+      "z_min": 0.7411510369836963,
+      "z_max": 0.7636170354315207
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.6174108809552203,
+        8.513073127241876,
+        0.7486738956187096
+      ],
+      "rotation_wxyz": [
+        0.11610436730375259,
+        -0.00012180047405812872,
+        -0.0004963309991926031,
+        -0.9932368875113224
+      ],
+      "yaw_degrees_local": -166.7240539635366,
+      "yaw_radians": -2.9088591648569215,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6174108809552203,
+        8.513073127241876,
+        0.7565032348035275
+      ],
+      "z_min": 0.7406611259931468,
+      "z_max": 0.7563198043627828
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.1455275972650742,
+        8.294761292461626,
+        0.7409423288358827
+      ],
+      "rotation_wxyz": [
+        0.23604332479310924,
+        -5.81409271674815e-05,
+        0.0005077395482217415,
+        0.9717423977787523
+      ],
+      "yaw_degrees_local": 152.63502360327863,
+      "yaw_radians": 2.6650085750335832,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1455275972650742,
+        8.294761292461626,
+        0.7909424227131983
+      ],
+      "z_min": 0.7409423288358827,
+      "z_max": 0.8409425165905138
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.0070253729874183,
+        8.722289184132885,
+        0.8225638852143213
+      ],
+      "rotation_wxyz": [
+        0.20220877961305897,
+        -4.0501431248079236e-05,
+        0.0005094501450654124,
+        0.9793423039303374
+      ],
+      "yaw_degrees_local": 156.60898198295484,
+      "yaw_radians": 2.734367203957042,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0070253729874183,
+        8.722289184132885,
+        0.9044998942551402
+      ],
+      "z_min": 0.7406530085857941,
+      "z_max": 0.9045250266674318
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        1.7326722743247005,
+        8.738741888867299,
+        0.8408905786961169
+      ],
+      "rotation_wxyz": [
+        0.8810045896887805,
+        -0.00041679987128408956,
+        0.00029573245262885675,
+        0.47310744209691696
+      ],
+      "yaw_degrees_local": 56.41369188888481,
+      "yaw_radians": 0.9856291487123106,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7326722743247005,
+        8.738741888867299,
+        0.94097927978813
+      ],
+      "z_min": 0.7406710921319216,
+      "z_max": 0.9408484943159476
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        3.6462784604931384,
+        8.751676628238211,
+        0.7529258635753597
+      ],
+      "rotation_wxyz": [
+        0.41666201177942874,
+        -0.0001537064248781609,
+        0.0004873952720241415,
+        0.9090613327823944
+      ],
+      "yaw_degrees_local": 130.69323278908132,
+      "yaw_radians": 2.2820521722341875,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6462784604931384,
+        8.751676628238211,
+        0.7654966863406246
+      ],
+      "z_min": 0.7404154714395083,
+      "z_max": 0.7655571169700379
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.2367850044545965,
+        8.371546436674333,
+        0.7884327164222217
+      ],
+      "rotation_wxyz": [
+        0.057834550359772585,
+        3.391567475780677e-05,
+        0.0005099309200725479,
+        0.9983260507493866
+      ],
+      "yaw_degrees_local": 173.3102372841164,
+      "yaw_radians": 3.0258589536781533,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2367850044545965,
+        8.371546436674333,
+        0.8358316418503221
+      ],
+      "z_min": 0.740852913309922,
+      "z_max": 0.8356507641661229
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.228028097075636,
+        8.850319744074834,
+        0.8407521696410171
+      ],
+      "rotation_wxyz": [
+        0.5601533916918257,
+        -0.0003365416003717174,
+        -0.0003846031298098806,
+        -0.828388747265635
+      ],
+      "yaw_degrees_local": -111.925887373952,
+      "yaw_radians": -1.9524506913537638,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.228028097075636,
+        8.850319744074834,
+        0.9409690497036671
+      ],
+      "z_min": 0.7404951641627385,
+      "z_max": 0.9409289242880385
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.4349664843877075,
+        8.288473601867992,
+        0.7469789906683896
+      ],
+      "rotation_wxyz": [
+        0.7633676260686133,
+        -0.00034619372733305534,
+        0.00037593845160552384,
+        0.6459640905581006
+      ],
+      "yaw_degrees_local": 80.4172986590001,
+      "yaw_radians": 1.4045713053955304,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4349664843877075,
+        8.288473601867992,
+        0.7527962034349619
+      ],
+      "z_min": 0.7410387380060799,
+      "z_max": 0.7526731635392245
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.074136569692411,
+        8.89034504590575,
+        0.7709393306654083
+      ],
+      "rotation_wxyz": [
+        0.9299222951544999,
+        -0.00044828090963837294,
+        0.00024540587257460965,
+        0.36775571211712166
+      ],
+      "yaw_degrees_local": 43.09584081289927,
+      "yaw_radians": 0.7531887494574345,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.074136569692411,
+        8.89034504590575,
+        0.801541732170801
+      ],
+      "z_min": 0.7403473299320328,
+      "z_max": 0.8015521329428184
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.400588393767045,
+        8.769642357821889,
+        0.7670276191573149
+      ],
+      "rotation_wxyz": [
+        0.7523703289923331,
+        -0.00033980745019592857,
+        0.000381720726489477,
+        0.6587401816134738
+      ],
+      "yaw_degrees_local": 82.34902771154123,
+      "yaw_radians": 1.4382863552046878,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.400588393767045,
+        8.769642357821889,
+        0.7936021038133889
+      ],
+      "z_min": 0.7404283865846492,
+      "z_max": 0.7935773558967971
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.572886218085921,
+        8.878584472739208,
+        0.7880025788509669
+      ],
+      "rotation_wxyz": [
+        0.12953641700886132,
+        -2.8731982003181076e-06,
+        0.0005110494701811306,
+        0.9915745335014864
+      ],
+      "yaw_degrees_local": 165.05567870830214,
+      "yaw_radians": 2.881789802623562,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.572886218085921,
+        8.878584472739208,
+        0.8354015042790673
+      ],
+      "z_min": 0.7404227757386672,
+      "z_max": 0.8352206265948682
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.734603001135606,
+        8.403638456592297,
+        0.8707084965958732
+      ],
+      "rotation_wxyz": [
+        0.6948208653014077,
+        -0.0003979153602691193,
+        -0.0003206917247173828,
+        -0.7191826638358207
+      ],
+      "yaw_degrees_local": -92.03280754441363,
+      "yaw_radians": -1.6052507747139815,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.734603001135606,
+        8.403638456592297,
+        1.0008756461106425
+      ],
+      "z_min": 0.7407573334802371,
+      "z_max": 1.0010916325097754
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.7177946105607704,
+        8.228233476330152,
+        0.7760301189881695
+      ],
+      "rotation_wxyz": [
+        0.11416606166872549,
+        5.040897698423686e-06,
+        0.0005110326854426306,
+        0.993461548920358
+      ],
+      "yaw_degrees_local": 166.83023363733503,
+      "yaw_radians": 2.912761613180757,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7177946105607704,
+        8.228233476330152,
+        0.8111431933313549
+      ],
+      "z_min": 0.7410640160012386,
+      "z_max": 0.8112901646876094
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.05108011243002,
+        8.9084364078027,
+        0.8047070938041067
+      ],
+      "rotation_wxyz": [
+        0.9982953679156418,
+        -0.0005099487605228535,
+        3.364636505654081e-05,
+        -0.05836177874566216
+      ],
+      "yaw_degrees_local": -6.7502808699341585,
+      "yaw_radians": -0.11678994040538476,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.05108011243002,
+        8.9084364078027,
+        0.8688960478918272
+      ],
+      "z_min": 0.7404586210708402,
+      "z_max": 0.8688365292462812
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.8580022328106685,
+        8.663825326344984,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.7066215942540901,
+        0.0,
+        0.0,
+        0.7075916354323362
+      ],
+      "yaw_degrees_local": 179.92139904282578,
+      "yaw_radians": -1.572168172292806,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8580022328106685,
+        8.663825326344984,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.8815914082704823,
+        8.635949630858379,
+        0.8707076577727291
+      ],
+      "rotation_wxyz": [
+        0.37477125795605126,
+        -0.00024878586147517045,
+        -0.00044641394620953536,
+        -0.9271171679082547
+      ],
+      "yaw_degrees_local": -136.03835258833354,
+      "yaw_radians": -2.373292726736039,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8815914082704823,
+        8.635949630858379,
+        1.0008748072874982
+      ],
+      "z_min": 0.7407564946570928,
+      "z_max": 1.0010907936866311
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.350485176878152,
+        8.891501059321335,
+        0.7942211899481052
+      ],
+      "rotation_wxyz": [
+        0.9995038229042732,
+        -0.0005048692002566219,
+        7.929001748361363e-05,
+        0.03149359966607927
+      ],
+      "yaw_degrees_local": 3.5507875832118145,
+      "yaw_radians": 0.06299752893277301,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.350485176878152,
+        8.891501059321335,
+        0.8481413922415034
+      ],
+      "z_min": 0.7403111559682789,
+      "z_max": 0.8481515605550753
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.9623656338716566,
+        8.359568076856979,
+        0.8189863501450672
+      ],
+      "rotation_wxyz": [
+        0.7993000904836286,
+        -0.000367268469472281,
+        0.00035537823170785353,
+        0.6009318631700662
+      ],
+      "yaw_degrees_local": 73.81463407645674,
+      "yaw_radians": 1.2893330101495324,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9623656338716566,
+        8.359568076856979,
+        0.8969798746155654
+      ],
+      "z_min": 0.7410265483793074,
+      "z_max": 0.8970135973203038
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.9686340305421512,
+        8.28145040139017,
+        0.7759443630348364
+      ],
+      "rotation_wxyz": [
+        0.6003091205828825,
+        -0.0002537606022692259,
+        0.000443604974021113,
+        0.7997679029350891
+      ],
+      "yaw_degrees_local": 106.1571983758364,
+      "yaw_radians": 1.8538175164682897,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9686340305421512,
+        8.28145040139017,
+        0.8110574373780217
+      ],
+      "z_min": 0.7409782600479055,
+      "z_max": 0.8112044087342762
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.9530159615030938,
+        8.844744121735177,
+        0.8184954536026241
+      ],
+      "rotation_wxyz": [
+        0.5206135139126933,
+        -0.00020992321295058852,
+        0.00046595285266302905,
+        0.8537923096114546
+      ],
+      "yaw_degrees_local": 117.19445285674118,
+      "yaw_radians": 2.04645400096271,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9530159615030938,
+        8.844744121735177,
+        0.8964889780731223
+      ],
+      "z_min": 0.7405356518368643,
+      "z_max": 0.8965227007778608
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.6194122448233186,
+        8.231372109745504,
+        0.747605005213147
+      ],
+      "rotation_wxyz": [
+        0.9835636982022496,
+        -0.0005102194680583277,
+        -2.9255950755183787e-05,
+        -0.18056076649953037
+      ],
+      "yaw_degrees_local": -20.86356229276342,
+      "yaw_radians": -0.36311304551553586,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6194122448233186,
+        8.231372109745504,
+        0.7542178094966348
+      ],
+      "z_min": 0.7409465819469907,
+      "z_max": 0.7541721905139662
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.5027266479357255,
+        8.591479690490797,
+        0.7458492803821652
+      ],
+      "rotation_wxyz": [
+        0.37176147293863016,
+        -0.0002473362675680862,
+        -0.0004472187238765844,
+        -0.9283281456783933
+      ],
+      "yaw_degrees_local": -136.41011849535715,
+      "yaw_radians": -2.3797812665597546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5027266479357255,
+        8.591479690490797,
+        0.7510851957002987
+      ],
+      "z_min": 0.7405961327130841,
+      "z_max": 0.7510679633493511
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.877686379313936,
+        8.863987097608026,
+        0.7744685981007595
+      ],
+      "rotation_wxyz": [
+        0.13537363981004177,
+        -0.0001314175022427811,
+        -0.0004938717002872115,
+        -0.9907944875022091
+      ],
+      "yaw_degrees_local": -164.49825594215943,
+      "yaw_radians": -2.8700116757036858,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.877686379313936,
+        8.863987097608026,
+        0.8084671542714383
+      ],
+      "z_min": 0.7403989552871337,
+      "z_max": 0.8083960676284914
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        4.947965787443545,
+        8.22650922190149,
+        0.9290195328940867
+      ],
+      "rotation_wxyz": [
+        0.8033437801897755,
+        0.0,
+        0.0,
+        0.5955155504522126
+      ],
+      "yaw_degrees_local": -16.901213494335934,
+      "yaw_radians": 1.2758145037362387,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.947965787443545,
+        8.22650922190149,
+        0.9378216560174807
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9378042751431199
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.2476585298268184,
+        8.315138199602648,
+        0.7803925170107843
+      ],
+      "rotation_wxyz": [
+        0.756992172460172,
+        -0.00034248805995796763,
+        0.00037931747260908,
+        0.6534237443299816
+      ],
+      "yaw_degrees_local": 81.54177787360078,
+      "yaw_radians": 1.4241971802904976,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2476585298268184,
+        8.315138199602648,
+        0.8196325918506755
+      ],
+      "z_min": 0.7410354434963737,
+      "z_max": 0.8195155931761562
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.7984842722651724,
+        8.891825603417631,
+        0.7745770995085162
+      ],
+      "rotation_wxyz": [
+        0.2983235133878278,
+        -9.081875754815991e-05,
+        0.0005029232242775443,
+        0.9544646772825731
+      ],
+      "yaw_degrees_local": 145.22741041137397,
+      "yaw_radians": 2.535721380377167,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7984842722651724,
+        8.891825603417631,
+        0.808575655679195
+      ],
+      "z_min": 0.7405074566948904,
+      "z_max": 0.808504569036248
+    }
+  ],
+  "variant_index": 132
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0134/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0134/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..612fbeef8356990d1d17ecb0f4e13697a03498f6
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0134/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 699276051639617530
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.937172463, -0.000453154257, 0.00023628592, 0.348866039)
+            double3 xformOp:translate = (3.71183899855, 8.70409694004, 0.740455415162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.370159946, -0.000246564636, -0.00044764461, -0.928967897)
+            double3 xformOp:translate = (1.6848410015, 8.31775037913, 0.741104083193)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.943730426, -0.000499531753, -0.00010792518, -0.33071532)
+            double3 xformOp:translate = (2.04850974191, 8.27680982247, 0.806403876781)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99498591, -0.000510909165, 1.23142601e-05, -0.100013888)
+            double3 xformOp:translate = (2.52952445241, 8.21235929942, 0.746186167629)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.516524896, -0.000207692719, 0.000466951337, 0.856272019)
+            double3 xformOp:translate = (3.64579675675, 8.79821150232, 0.787948156736)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.716376738, -0.000407486603, -0.000308438786, -0.697713486)
+            double3 xformOp:translate = (1.78622013986, 8.61372863174, 0.74420559038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.626554161, -0.00026836161, 0.000434927422, 0.779377715)
+            double3 xformOp:translate = (3.60956476828, 8.30153394144, 0.775127723394)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94364782, -0.000499504789, -0.000108049904, -0.330950949)
+            double3 xformOp:translate = (3.27959428875, 8.2401810165, 0.748398687076)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988180555, -0.00051083336, -1.51358596e-05, -0.153293609)
+            double3 xformOp:translate = (2.69731106797, 8.87596962218, 0.743449063287)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.804153657, -0.000445456061, -0.000250496935, -0.594421261)
+            double3 xformOp:translate = (2.02087037693, 8.68994983345, 0.746334450453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999797231, 0, 0, -0.020136977)
+            double3 xformOp:translate = (4.97366772069, 8.38882640092, 0.980874519698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.975011707, -0.000508517501, -5.08897564e-05, -0.222152896)
+            double3 xformOp:translate = (3.27476896434, 8.40303119014, 0.760977380081)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.808685476, -0.000372831918, 0.00034953709, 0.588241056)
+            double3 xformOp:translate = (3.34790531927, 8.89422562554, 0.881943628559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0925979396, -0.000110036248, -0.000499070977, -0.99570345)
+            double3 xformOp:translate = (3.43222206555, 8.62617523609, 0.813342130455)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.417497394, -0.000269284834, -0.000434356414, -0.908677976)
+            double3 xformOp:translate = (2.16077912137, 8.35842788527, 0.787592783066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.61295916, -0.000360895549, -0.000361848337, -0.790114427)
+            double3 xformOp:translate = (3.46571571525, 8.82503348247, 0.752164508568)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990089479, -0.000510986936, -8.49515766e-06, -0.140437041)
+            double3 xformOp:translate = (2.37348917414, 8.24381120126, 0.813864079006)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.954787702, 0, 0, -0.297288487)
+            double3 xformOp:translate = (4.8475672315, 8.10791024989, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.145292976, -1.10020843e-05, 0.000510939106, 0.989388543)
+            double3 xformOp:translate = (1.96809323908, 8.53137517316, 0.825261692471)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0410422072, 4.24839989e-05, 0.000509288647, 0.999157283)
+            double3 xformOp:translate = (3.15761443992, 8.22431805498, 0.746375708766)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.789265126, -0.000361348388, 0.000361396124, 0.61405236)
+            double3 xformOp:translate = (3.41248407641, 8.30675072653, 0.747877352327)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.890681698, -0.000422878023, 0.000286973855, 0.454627157)
+            double3 xformOp:translate = (3.7228023024, 8.38242176366, 0.793458230823)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.741414558, -0.00041849435, -0.00029332967, -0.671047087)
+            double3 xformOp:translate = (2.90240283616, 8.25413422313, 0.775265395923)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.963323538, -0.000471517117, 0.000197107648, 0.268342134)
+            double3 xformOp:translate = (3.62579716519, 8.54727323627, 0.78118892204)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.941168144, -0.000455872811, 0.000230997395, 0.337938255)
+            double3 xformOp:translate = (3.56714844555, 8.67517079757, 0.789368678479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.933949026, -0.00049626231, -0.000122080041, -0.35740587)
+            double3 xformOp:translate = (2.22182719588, 8.21485604265, 0.797300354693)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981306317, -0.000485444173, 0.000159761608, 0.192451683)
+            double3 xformOp:translate = (2.58135420875, 8.3550726992, 0.746316106015)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996177024, -0.000499643212, 0.000107407992, 0.0873560289)
+            double3 xformOp:translate = (1.82119525672, 8.85796113502, 0.788062736006)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.189101326, -3.36887619e-05, 0.000509945961, 0.981957447)
+            double3 xformOp:translate = (1.72061195186, 8.20822307657, 0.819170479577)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.918996835, 0, 0, 0.394264908)
+            double3 xformOp:translate = (4.98078602042, 8.28212840152, 0.925889829626)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0134/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0134/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..f72b45014150cd6b854ca06241b500b1dbef5d50
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0134/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 699276051639617530,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small object": 7,
+    "electronics": 7,
+    "paper goods": 1,
+    "writing_instrument": 2,
+    "book": 1,
+    "office_supply": 3,
+    "small prop": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 152,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.711838998553852,
+        8.704096940043597,
+        0.7404554151617101
+      ],
+      "rotation_wxyz": [
+        0.9371724630631116,
+        -0.00045315425652012024,
+        0.00023628592010107097,
+        0.34886603918467707
+      ],
+      "yaw_degrees_local": 40.77724052528029,
+      "yaw_radians": 0.7127215373750369,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.711838998553852,
+        8.704096940043597,
+        0.7904555090390256
+      ],
+      "z_min": 0.7404554151617101,
+      "z_max": 0.8404556029163411
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.684841001496057,
+        8.317750379125828,
+        0.7411040831927205
+      ],
+      "rotation_wxyz": [
+        0.37015994550048553,
+        -0.0002465646360408335,
+        -0.0004476446095893079,
+        -0.9289678969519138
+      ],
+      "yaw_degrees_local": -136.60774071202314,
+      "yaw_radians": -2.3832304252699625,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.684841001496057,
+        8.317750379125828,
+        0.791104177070036
+      ],
+      "z_min": 0.7411040831927205,
+      "z_max": 0.8411042709473515
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.048509741908962,
+        8.276809822469241,
+        0.8064038767806281
+      ],
+      "rotation_wxyz": [
+        0.9437304256284088,
+        -0.0004995317525139282,
+        -0.00010792517996591978,
+        -0.33071531951726457
+      ],
+      "yaw_degrees_local": -38.68311209375099,
+      "yaw_radians": -0.6741227481042669,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.048509741908962,
+        8.276809822469241,
+        0.8717596011422696
+      ],
+      "z_min": 0.7410995632981255,
+      "z_max": 0.8718110120214085
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.5295244524142433,
+        8.212359299422765,
+        0.7461861676291447
+      ],
+      "rotation_wxyz": [
+        0.9949859100050769,
+        -0.0005109091653500897,
+        1.2314260090938171e-05,
+        -0.1000138875934388
+      ],
+      "yaw_degrees_local": -11.538652297287115,
+      "yaw_radians": -0.2003627441193741,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5295244524142433,
+        8.212359299422765,
+        0.7513157703252227
+      ],
+      "z_min": 0.7411039545320797,
+      "z_max": 0.7513631599242355
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.6457967567452596,
+        8.798211502323827,
+        0.7879481567363988
+      ],
+      "rotation_wxyz": [
+        0.5165248958552371,
+        -0.0002076927185471913,
+        0.00046695133676089826,
+        0.8562720191515781
+      ],
+      "yaw_degrees_local": 117.74240911408918,
+      "yaw_radians": 2.056017643576506,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6457967567452596,
+        8.798211502323827,
+        0.8353470821644993
+      ],
+      "z_min": 0.7403683536240991,
+      "z_max": 0.8351662044803001
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        1.7862201398566755,
+        8.613728631744753,
+        0.7442055903796682
+      ],
+      "rotation_wxyz": [
+        0.7163767379209511,
+        -0.00040748660312091956,
+        -0.00030843878568897066,
+        -0.6977134857417626
+      ],
+      "yaw_degrees_local": -88.54641158253412,
+      "yaw_radians": -1.5444016552996713,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7862201398566755,
+        8.613728631744753,
+        0.7476448724588832
+      ],
+      "z_min": 0.7407910494583129,
+      "z_max": 0.7476696136167429
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        3.6095647682811047,
+        8.301533941441567,
+        0.7751277233941221
+      ],
+      "rotation_wxyz": [
+        0.6265541607785531,
+        -0.0002683616104240944,
+        0.0004349274218658777,
+        0.7793777148669745
+      ],
+      "yaw_degrees_local": 102.34857783949184,
+      "yaw_radians": 1.7873445227181848,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6095647682811047,
+        8.301533941441567,
+        0.8093332431066239
+      ],
+      "z_min": 0.7408766836592485,
+      "z_max": 0.8092877230842522
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.2795942887530254,
+        8.240181016496138,
+        0.748398687075764
+      ],
+      "rotation_wxyz": [
+        0.9436478201271309,
+        -0.0004995047891776328,
+        -0.00010804990434480375,
+        -0.33095094861549795
+      ],
+      "yaw_degrees_local": -38.71172438239947,
+      "yaw_radians": -0.6746221266294342,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2795942887530254,
+        8.240181016496138,
+        0.7559385897188634
+      ],
+      "z_min": 0.7409807033828522,
+      "z_max": 0.7560605086690511
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.697311067974123,
+        8.875969622176903,
+        0.7434490632870902
+      ],
+      "rotation_wxyz": [
+        0.9881805545439345,
+        -0.0005108333603005904,
+        -1.5135859550079994e-05,
+        -0.15329360861244729
+      ],
+      "yaw_degrees_local": -17.694401820643577,
+      "yaw_radians": -0.3078007870935222,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.697311067974123,
+        8.875969622176903,
+        0.7465610665309658
+      ],
+      "z_min": 0.7404096397702495,
+      "z_max": 0.7466336462580007
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.0208703769337637,
+        8.689949833445798,
+        0.7463344504527347
+      ],
+      "rotation_wxyz": [
+        0.8041536565507775,
+        -0.00044545606055137717,
+        -0.0002504969348282737,
+        -0.5944212609557283
+      ],
+      "yaw_degrees_local": -73.00149366945058,
+      "yaw_radians": -1.2730915381083023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0208703769337637,
+        8.689949833445798,
+        0.7519833016660168
+      ],
+      "z_min": 0.7406840141829478,
+      "z_max": 0.7519817166095121
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        4.973667720691749,
+        8.388826400915232,
+        0.9808745196984141
+      ],
+      "rotation_wxyz": [
+        0.9997972305214391,
+        0.0,
+        0.0,
+        -0.020136976974225895
+      ],
+      "yaw_degrees_local": -92.30768356359006,
+      "yaw_radians": -0.04027667627880251,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.973667720691749,
+        8.388826400915232,
+        1.0415013861536737
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.041453761806851
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        3.2747689643352005,
+        8.403031190140423,
+        0.760977380081055
+      ],
+      "rotation_wxyz": [
+        0.9750117074998005,
+        -0.0005085175011110852,
+        -5.088975637640604e-05,
+        -0.22215289567887145
+      ],
+      "yaw_degrees_local": -25.729742740567104,
+      "yaw_radians": -0.4480438788443236,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2747689643352005,
+        8.403031190140423,
+        0.7810080097656635
+      ],
+      "z_min": 0.7408161535272201,
+      "z_max": 0.7808774128964372
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.3479053192660846,
+        8.894225625539436,
+        0.8819436285594552
+      ],
+      "rotation_wxyz": [
+        0.8086854757161073,
+        -0.0003728319176009102,
+        0.0003495370902470019,
+        0.5882410561887
+      ],
+      "yaw_degrees_local": 72.00587509999824,
+      "yaw_radians": 1.2577641951245428,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3479053192660846,
+        8.894225625539436,
+        1.0235044157552067
+      ],
+      "z_min": 0.7403087653203346,
+      "z_max": 1.0234303397118376
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.4322220655462568,
+        8.626175236087542,
+        0.8133421304550434
+      ],
+      "rotation_wxyz": [
+        0.09259793958205953,
+        -0.00011003624756291547,
+        -0.0004990709773795561,
+        -0.9957034500318562
+      ],
+      "yaw_degrees_local": -169.43254425349414,
+      "yaw_radians": -2.9561312187776005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4322220655462568,
+        8.626175236087542,
+        0.8862045750617872
+      ],
+      "z_min": 0.740569911653167,
+      "z_max": 0.8862948008666544
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.1607791213727183,
+        8.358427885267584,
+        0.7875927830656291
+      ],
+      "rotation_wxyz": [
+        0.4174973944184943,
+        -0.0002692848342058395,
+        -0.0004343564139126372,
+        -0.9086779762236742
+      ],
+      "yaw_degrees_local": -130.70532742183258,
+      "yaw_radians": -2.2802138637964866,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1607791213727183,
+        8.358427885267584,
+        0.8341743863315471
+      ],
+      "z_min": 0.741002549200929,
+      "z_max": 0.834165755732765
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.4657157152505516,
+        8.825033482467036,
+        0.7521645085683079
+      ],
+      "rotation_wxyz": [
+        0.6129591597721352,
+        -0.0003608955489302839,
+        -0.00036184833701790264,
+        -0.7901144266950338
+      ],
+      "yaw_degrees_local": -104.45114197110122,
+      "yaw_radians": -1.8219917103285534,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4657157152505516,
+        8.825033482467036,
+        0.7640357791148776
+      ],
+      "z_min": 0.7403639476888585,
+      "z_max": 0.7641064887819979
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.3734891741435584,
+        8.243811201264696,
+        0.8138640790061947
+      ],
+      "rotation_wxyz": [
+        0.9900894789292886,
+        -0.0005109869357788035,
+        -8.495157661960167e-06,
+        -0.14043704117402192
+      ],
+      "yaw_degrees_local": -16.204985976675914,
+      "yaw_radians": -0.28180558948024675,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3734891741435584,
+        8.243811201264696,
+        0.8867265236129385
+      ],
+      "z_min": 0.7410918602043183,
+      "z_max": 0.8868167494178056
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.847567231501818,
+        8.107910249891901,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        0.9547877017732422,
+        0.0,
+        0.0,
+        -0.29728848706697436
+      ],
+      "yaw_degrees_local": -124.58963187137152,
+      "yaw_radians": -0.6037029632082013,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.847567231501818,
+        8.107910249891901,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        1.9680932390842267,
+        8.531375173156977,
+        0.8252616924711061
+      ],
+      "rotation_wxyz": [
+        0.1452929759490125,
+        -1.1002084310903122e-05,
+        0.0005109391063337474,
+        0.9893885434752435
+      ],
+      "yaw_degrees_local": 163.23279710160563,
+      "yaw_radians": 2.849974532572623,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9680932390842267,
+        8.531375173156977,
+        0.9096718145658097
+      ],
+      "z_min": 0.7408515737693274,
+      "z_max": 0.9096718179587344
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.157614439917478,
+        8.22431805497923,
+        0.7463757087659776
+      ],
+      "rotation_wxyz": [
+        0.04104220717680425,
+        4.2483998939670985e-05,
+        0.0005092886471092859,
+        0.9991572829390978
+      ],
+      "yaw_degrees_local": 175.23687709444897,
+      "yaw_radians": 3.059485144329374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.157614439917478,
+        8.22431805497923,
+        0.7517111494609784
+      ],
+      "z_min": 0.7410122460191675,
+      "z_max": 0.7516831274091691
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.4124840764051236,
+        8.306750726526746,
+        0.7478773523265341
+      ],
+      "rotation_wxyz": [
+        0.789265125617847,
+        -0.00036134838808796015,
+        0.00036139612431035497,
+        0.6140523595782594
+      ],
+      "yaw_degrees_local": 75.70749177836271,
+      "yaw_radians": 1.3223696258950743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4124840764051236,
+        8.306750726526746,
+        0.7548606331353747
+      ],
+      "z_min": 0.7408963487276523,
+      "z_max": 0.7548629103453335
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.7228023023959023,
+        8.382421763660671,
+        0.7934582308225585
+      ],
+      "rotation_wxyz": [
+        0.8906816980517818,
+        -0.0004228780234744806,
+        0.0002869738550854925,
+        0.45462715666332415
+      ],
+      "yaw_degrees_local": 54.023192019053084,
+      "yaw_radians": 0.9439070427821141,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7228023023959023,
+        8.382421763660671,
+        0.8460072596817766
+      ],
+      "z_min": 0.7407803069302159,
+      "z_max": 0.8458783646486522
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        2.902402836162485,
+        8.254134223134123,
+        0.7752653959227432
+      ],
+      "rotation_wxyz": [
+        0.7414145577853426,
+        -0.00041849435019526026,
+        -0.00029332966964655907,
+        -0.6710470865178902
+      ],
+      "yaw_degrees_local": -84.35458589220501,
+      "yaw_radians": -1.4712404597978954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.902402836162485,
+        8.254134223134123,
+        0.8094709156352451
+      ],
+      "z_min": 0.7410143561878697,
+      "z_max": 0.8094253956128734
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.625797165192453,
+        8.547273236273112,
+        0.7811889220402648
+      ],
+      "rotation_wxyz": [
+        0.9633235375612567,
+        -0.0004715171168515307,
+        0.0001971076476353277,
+        0.2683421338527553
+      ],
+      "yaw_degrees_local": 31.072569640652517,
+      "yaw_radians": 0.5433430834383753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.625797165192453,
+        8.547273236273112,
+        0.8217389311797964
+      ],
+      "z_min": 0.7406253935936998,
+      "z_max": 0.8217254118727628
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.5671484455515943,
+        8.6751707975719,
+        0.7893686784790827
+      ],
+      "rotation_wxyz": [
+        0.9411681437481105,
+        -0.0004558728110373787,
+        0.00023099739478442397,
+        0.3379382547358615
+      ],
+      "yaw_degrees_local": 39.44391713921135,
+      "yaw_radians": 0.6894506533237463,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5671484455515943,
+        8.6751707975719,
+        0.8382361429850318
+      ],
+      "z_min": 0.7405031109667645,
+      "z_max": 0.8382380399786629
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.2218271958778777,
+        8.214856042654516,
+        0.797300354692818
+      ],
+      "rotation_wxyz": [
+        0.9339490258635866,
+        -0.0004962623095023936,
+        -0.00012208004098812828,
+        -0.35740586999746043
+      ],
+      "yaw_degrees_local": -41.94064981272072,
+      "yaw_radians": -0.730977494860705,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2218271958778777,
+        8.214856042654516,
+        0.8534826345027107
+      ],
+      "z_min": 0.7411404345228538,
+      "z_max": 0.8535049941426391
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.581354208749317,
+        8.35507269920137,
+        0.7463161060154064
+      ],
+      "rotation_wxyz": [
+        0.9813063172983507,
+        -0.00048544417268755465,
+        0.00015976160816669383,
+        0.1924516834182872
+      ],
+      "yaw_degrees_local": 22.133085183934583,
+      "yaw_radians": 0.3873196772158952,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.581354208749317,
+        8.35507269920137,
+        0.7516515467104072
+      ],
+      "z_min": 0.7409526432685963,
+      "z_max": 0.7516235246585979
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.821195256715876,
+        8.857961135023993,
+        0.7880627360060009
+      ],
+      "rotation_wxyz": [
+        0.9961770239406005,
+        -0.0004996432121538287,
+        0.00010740799220224152,
+        0.08735602894495745
+      ],
+      "yaw_degrees_local": 9.96432987287605,
+      "yaw_radians": 0.17493490702353653,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.821195256715876,
+        8.857961135023993,
+        0.8355862132062446
+      ],
+      "z_min": 0.7405389326491433,
+      "z_max": 0.8355858870496309
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.7206119518627176,
+        8.208223076574855,
+        0.8191704795766136
+      ],
+      "rotation_wxyz": [
+        0.1891013264639922,
+        -3.3688761893660066e-05,
+        0.0005099459614139373,
+        0.9819574467102649
+      ],
+      "yaw_degrees_local": 158.14060011522105,
+      "yaw_radians": 2.7610989712670344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7206119518627176,
+        8.208223076574855,
+        0.8971640040471118
+      ],
+      "z_min": 0.7412106778108538,
+      "z_max": 0.8971977267518503
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        4.980786020416403,
+        8.282128401522856,
+        0.9258898296256565
+      ],
+      "rotation_wxyz": [
+        0.9189968348988458,
+        0.0,
+        0.0,
+        0.3942649077028079
+      ],
+      "yaw_degrees_local": -43.55972775261796,
+      "yaw_radians": 0.8105356562393634,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.980786020416403,
+        8.282128401522856,
+        0.9317208806504427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318621309459042
+    }
+  ],
+  "variant_index": 134
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0137/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0137/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..57790de807058177cfcc9be8ab07c5689e2442f5
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0137/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1592242105986034379
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869945009, -0.000409921771, 0.000305194951, 0.493148478)
+            double3 xformOp:translate = (1.7923849323, 8.82005414217, 0.740581001622)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.239463754, -5.992852e-05, 0.000507531663, 0.97090517)
+            double3 xformOp:translate = (1.90149566867, 8.35160727837, 0.740738597659)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995541654, -0.000498879737, 0.000110900066, 0.094321546)
+            double3 xformOp:translate = (3.54450441545, 8.73776445557, 0.743857012668)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.916702401, -0.000490187412, -0.000144554894, -0.399570328)
+            double3 xformOp:translate = (3.3348779354, 8.21949644231, 0.748412661537)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.322094281, 0, 0, 0.946707597)
+            double3 xformOp:translate = (4.87837571277, 8.12181890629, 0.974110062876)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.542392241, -0.00032827815, -0.000391680064, -0.840125226)
+            double3 xformOp:translate = (2.31848174899, 8.86181729667, 0.74351141513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99981147, 0, 0, -0.0194171088)
+            double3 xformOp:translate = (4.94782696798, 8.38103100487, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.6076509, -0.000358462728, -0.000364258547, -0.794204081)
+            double3 xformOp:translate = (3.1560036689, 8.81620876395, 0.74577559825)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.951428558, -0.000501988284, -9.58518614e-05, -0.307869188)
+            double3 xformOp:translate = (3.71123599314, 8.37954195558, 0.787880938549)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.473825084, -0.000184496579, 0.000476592938, 0.880618833)
+            double3 xformOp:translate = (2.57440954765, 8.21953165006, 0.775160651067)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.639479541, -0.000275585878, 0.000430386152, 0.768807944)
+            double3 xformOp:translate = (3.20013554666, 8.39886223154, 0.767429073892)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.962923089, -0.000471223234, 0.000197809202, 0.269775579)
+            double3 xformOp:translate = (3.34935493674, 8.56745939536, 0.821829655397)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0522999839, 3.67416787e-05, 0.000509735093, 0.998631289)
+            double3 xformOp:translate = (2.35849554962, 8.32753586291, 0.744048230759)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.494664184, -0.000195795154, 0.000472063634, 0.869084049)
+            double3 xformOp:translate = (2.66451862768, 8.27377792151, 0.835898101082)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.92479313, -0.000493080333, -0.00013435625, -0.380469979)
+            double3 xformOp:translate = (2.90216033133, 8.24156996621, 0.752605846164)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.489166168, -0.000303317709, -0.000411312757, -0.87219046)
+            double3 xformOp:translate = (2.00056255758, 8.61225593838, 0.740765383903)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.437676118, -0.000278913079, -0.000428237446, -0.899132557)
+            double3 xformOp:translate = (3.71039077037, 8.60539682616, 0.787978777831)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.856914238, -0.000401900291, 0.000315683342, 0.515458754)
+            double3 xformOp:translate = (2.13521663762, 8.2757534183, 0.741089611769)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.339426212, -0.000112538865, 0.000498512608, 0.940632545)
+            double3 xformOp:translate = (3.19956797415, 8.26327197294, 0.809020790011)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.873704422, -0.000412252144, 0.000302039709, 0.486456906)
+            double3 xformOp:translate = (1.72896786768, 8.53931716622, 0.74616098602)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.787335726, -0.000438327658, -0.000262771156, -0.616524284)
+            double3 xformOp:translate = (3.36248998728, 8.87757104583, 0.786336365926)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.739007895, -0.000417441739, -0.000294825729, -0.673696571)
+            double3 xformOp:translate = (3.44994933074, 8.50227782564, 0.840950346164)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.241135147, -6.08023221e-05, 0.000507427723, 0.970491411)
+            double3 xformOp:translate = (3.72110316432, 8.75759140097, 0.774469646188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900747513, -0.000429267585, 0.000277325002, 0.434342787)
+            double3 xformOp:translate = (1.73539200652, 8.20241149935, 0.780560643238)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.121531111, -0.000124511323, -0.000495657893, -0.992587491)
+            double3 xformOp:translate = (2.25639664207, 8.31344164481, 0.775642844037)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.177545626, -2.76921619e-05, 0.000510306732, 0.984112437)
+            double3 xformOp:translate = (3.49766837934, 8.23682519372, 0.744510042163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995499018, -0.000498829675, 0.000111125027, 0.0947704817)
+            double3 xformOp:translate = (3.6989449842, 8.2242746619, 0.780300794115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999867911, -0.000508078099, 5.5104099e-05, -0.0162449567)
+            double3 xformOp:translate = (3.54791385333, 8.56024914999, 0.765648796422)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0734496479, -0.000100426909, -0.000501093057, -0.997298796)
+            double3 xformOp:translate = (2.84470914423, 8.88479836231, 0.857221648921)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99728606, -0.000510403691, 2.58435351e-05, -0.0736223709)
+            double3 xformOp:translate = (1.92677789507, 8.92205515726, 0.745747738081)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0137/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0137/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38eb0d5919f47f171bd3e3987787cd0685d9f21
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0137/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1592242105986034379,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 1,
+    "small object": 4,
+    "electronics": 7,
+    "small_electronics": 1,
+    "drinkware/container": 2,
+    "office_supply": 3,
+    "clock": 3,
+    "office_supplies": 2
+  },
+  "failed_sampling_attempt_count": 231,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.7923849323048318,
+        8.820054142167542,
+        0.7405810016219628
+      ],
+      "rotation_wxyz": [
+        0.8699450085340344,
+        -0.000409921770717304,
+        0.0003051949510268849,
+        0.4931484775875342
+      ],
+      "yaw_degrees_local": 59.03676364903282,
+      "yaw_radians": 1.031410402748352,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7923849323048318,
+        8.820054142167542,
+        0.7630780133357459
+      ],
+      "z_min": 0.7405810046168974,
+      "z_max": 0.7855750280444634
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        1.9014956686674471,
+        8.35160727836608,
+        0.740738597658551
+      ],
+      "rotation_wxyz": [
+        0.23946375352808819,
+        -5.9928519976974224e-05,
+        0.0005075316627893102,
+        0.9709051702233453
+      ],
+      "yaw_degrees_local": 152.23150022342537,
+      "yaw_radians": 2.657965766232302,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9014956686674471,
+        8.35160727836608,
+        0.7495506650630568
+      ],
+      "z_min": 0.7410422938883721,
+      "z_max": 0.7586664286973837
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        3.5445044154483085,
+        8.737764455573888,
+        0.7438570126682653
+      ],
+      "rotation_wxyz": [
+        0.9955416539684665,
+        -0.0004988797366125047,
+        0.00011090006599524883,
+        0.09432154596863977
+      ],
+      "yaw_degrees_local": 10.765834834304343,
+      "yaw_radians": 0.1889238015925006,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5445044154483085,
+        8.737764455573888,
+        0.7472962947474804
+      ],
+      "z_min": 0.74044247174691,
+      "z_max": 0.74732103590534
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.334877935398186,
+        8.21949644230586,
+        0.7484126615365124
+      ],
+      "rotation_wxyz": [
+        0.9167024007756273,
+        -0.0004901874120836847,
+        -0.00014455489363910355,
+        -0.3995703282682352
+      ],
+      "yaw_degrees_local": -47.161357688675764,
+      "yaw_radians": -0.8220960240733927,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.334877935398186,
+        8.21949644230586,
+        0.7559525641796119
+      ],
+      "z_min": 0.7409946778436006,
+      "z_max": 0.7560744831297995
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        4.8783757127726926,
+        8.121818906288349,
+        0.9741100628761581
+      ],
+      "rotation_wxyz": [
+        -0.3220942805443427,
+        0.0,
+        0.0,
+        0.9467075971178336
+      ],
+      "yaw_degrees_local": 127.57925095208617,
+      "yaw_radians": -2.485710994042676,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8783757127726926,
+        8.121818906288349,
+        1.0280302651695563
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0280404334831281
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.3184817489888845,
+        8.861817296674683,
+        0.7435114151301612
+      ],
+      "rotation_wxyz": [
+        0.5423922408776247,
+        -0.00032827814971979867,
+        -0.0003916800641555019,
+        -0.840125226294231
+      ],
+      "yaw_degrees_local": -114.36542474001658,
+      "yaw_radians": -1.9950286694866366,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3184817489888845,
+        8.861817296674683,
+        0.7466234183740368
+      ],
+      "z_min": 0.7404719916133206,
+      "z_max": 0.7466959981010717
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.9478269679836435,
+        8.381031004872558,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        0.9998114701709011,
+        0.0,
+        0.0,
+        -0.019417108814172523
+      ],
+      "yaw_degrees_local": -92.22517660994302,
+      "yaw_radians": -0.03883665828187132,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9478269679836435,
+        8.381031004872558,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.1560036689005897,
+        8.816208763950174,
+        0.7457755982499417
+      ],
+      "rotation_wxyz": [
+        0.6076509003796696,
+        -0.0003584627277085741,
+        -0.0003642585470294984,
+        -0.7942040808809541
+      ],
+      "yaw_degrees_local": -105.21901716847414,
+      "yaw_radians": -1.8353936675190636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1560036689005897,
+        8.816208763950174,
+        0.7511110389449425
+      ],
+      "z_min": 0.7404121355031316,
+      "z_max": 0.7510830168931332
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.7112359931440557,
+        8.37954195558241,
+        0.7878809385487459
+      ],
+      "rotation_wxyz": [
+        0.951428558412119,
+        -0.000501988283643824,
+        -9.585186135198575e-05,
+        -0.3078691882245135
+      ],
+      "yaw_degrees_local": -35.920444667452955,
+      "yaw_radians": -0.6259051178731081,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7112359931440557,
+        8.37954195558241,
+        0.8349866892353783
+      ],
+      "z_min": 0.7407846902729313,
+      "z_max": 0.8349961916461962
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.5744095476532456,
+        8.219531650062379,
+        0.7751606510669136
+      ],
+      "rotation_wxyz": [
+        0.473825084073461,
+        -0.00018449657878886994,
+        0.00047659293810915293,
+        0.8806188327096812
+      ],
+      "yaw_degrees_local": 123.37552372244352,
+      "yaw_radians": 2.1543340534925797,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5744095476532456,
+        8.219531650062379,
+        0.8091592072375924
+      ],
+      "z_min": 0.7410910082532878,
+      "z_max": 0.8090881205946454
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.200135546660108,
+        8.398862231537295,
+        0.7674290738924434
+      ],
+      "rotation_wxyz": [
+        0.6394795414914252,
+        -0.0002755858779517178,
+        0.00043038615232590086,
+        0.7688079440498132
+      ],
+      "yaw_degrees_local": 100.43523481454565,
+      "yaw_radians": 1.753950373310359,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.200135546660108,
+        8.398862231537295,
+        0.7940035585485175
+      ],
+      "z_min": 0.7408298413197777,
+      "z_max": 0.7939788106319257
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.3493549367430635,
+        8.567459395356018,
+        0.821829655397059
+      ],
+      "rotation_wxyz": [
+        0.9629230892316368,
+        -0.0004712232335821947,
+        0.00019780920194129744,
+        0.2697755790370677
+      ],
+      "yaw_degrees_local": 31.243119647949243,
+      "yaw_radians": 0.5463197422466283,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3493549367430635,
+        8.567459395356018,
+        0.903073508690424
+      ],
+      "z_min": 0.7406399669031724,
+      "z_max": 0.9031276734899023
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.358495549615595,
+        8.327535862908462,
+        0.7440482307586902
+      ],
+      "rotation_wxyz": [
+        0.05229998388570006,
+        3.674167870939429e-05,
+        0.000509735093245431,
+        0.9986312885673769
+      ],
+      "yaw_degrees_local": 173.9454165786097,
+      "yaw_radians": 3.03694491791911,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.358495549615595,
+        8.327535862908462,
+        0.7471602340025658
+      ],
+      "z_min": 0.7410088072418496,
+      "z_max": 0.7472328137296007
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        2.6645186276837305,
+        8.273777921508628,
+        0.8358981010817946
+      ],
+      "rotation_wxyz": [
+        0.4946641837219036,
+        -0.00019579515355560719,
+        0.00047206363351189095,
+        0.869084048963578
+      ],
+      "yaw_degrees_local": 120.64606372079044,
+      "yaw_radians": 2.106695984652131,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6645186276837305,
+        8.273777921508628,
+        0.9307949471459982
+      ],
+      "z_min": 0.7410246047793799,
+      "z_max": 0.9308182969077872
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        2.9021603313291333,
+        8.241569966205285,
+        0.7526058461635103
+      ],
+      "rotation_wxyz": [
+        0.9247931303097067,
+        -0.0004930803326204095,
+        -0.00013435624966207901,
+        -0.38046997904191837
+      ],
+      "yaw_degrees_local": -44.7843111262755,
+      "yaw_radians": -0.7806087397434018,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9021603313291333,
+        8.241569966205285,
+        0.7641186005869608
+      ],
+      "z_min": 0.7410271181440592,
+      "z_max": 0.76405262699096
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.000562557577559,
+        8.612255938375025,
+        0.7407653839032186
+      ],
+      "rotation_wxyz": [
+        0.4891661676469265,
+        -0.0003033177087111322,
+        -0.0004113127566980404,
+        -0.8721904604212333
+      ],
+      "yaw_degrees_local": -121.48712019114708,
+      "yaw_radians": -2.11932575194075,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.000562557577559,
+        8.612255938375025,
+        0.7907654777805341
+      ],
+      "z_min": 0.7407653839032186,
+      "z_max": 0.8407655716578496
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.7103907703713186,
+        8.605396826157067,
+        0.787978777830586
+      ],
+      "rotation_wxyz": [
+        0.43767611765837905,
+        -0.00027891307923277994,
+        -0.0004282374463696532,
+        -0.89913255688562
+      ],
+      "yaw_degrees_local": -128.14729903321626,
+      "yaw_radians": -2.235567836016652,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7103907703713186,
+        8.605396826157067,
+        0.8354313035695664
+      ],
+      "z_min": 0.7405557282571574,
+      "z_max": 0.8354607797351183
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.1352166376153017,
+        8.275753418300823,
+        0.7410896117691006
+      ],
+      "rotation_wxyz": [
+        0.8569142381845423,
+        -0.0004019002910022968,
+        0.000315683341867419,
+        0.5154587541373118
+      ],
+      "yaw_degrees_local": 61.99754594529762,
+      "yaw_radians": 1.0830858214619212,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1352166376153017,
+        8.275753418300823,
+        0.7635866234828836
+      ],
+      "z_min": 0.7410896147640351,
+      "z_max": 0.7860836381916012
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.1995679741535863,
+        8.26327197294003,
+        0.809020790011329
+      ],
+      "rotation_wxyz": [
+        0.33942621169259324,
+        -0.00011253886477204095,
+        0.0004985126078206377,
+        0.9406325454906389
+      ],
+      "yaw_degrees_local": 140.2574448796845,
+      "yaw_radians": 2.448979140658461,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1995679741535863,
+        8.26327197294003,
+        0.8770761335649149
+      ],
+      "z_min": 0.7409674548890195,
+      "z_max": 0.8770781419961912
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.7289678676777855,
+        8.539317166217414,
+        0.7461609860195234
+      ],
+      "rotation_wxyz": [
+        0.8737044222436855,
+        -0.00041225214409510265,
+        0.00030203970919285314,
+        0.4864569059762763
+      ],
+      "yaw_degrees_local": 58.15723609566885,
+      "yaw_radians": 1.0160597457615583,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7289678676777855,
+        8.539317166217414,
+        0.7514619766506369
+      ],
+      "z_min": 0.7408737748662557,
+      "z_max": 0.7514757561284827
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.362489987280203,
+        8.87757104583022,
+        0.786336365925582
+      ],
+      "rotation_wxyz": [
+        0.7873357262267112,
+        -0.0004383276582731921,
+        -0.000262771155633666,
+        -0.6165242842153433
+      ],
+      "yaw_degrees_local": -76.18424448648567,
+      "yaw_radians": -1.328641039581508,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.362489987280203,
+        8.87757104583022,
+        0.8325347804264618
+      ],
+      "z_min": 0.7403237590879652,
+      "z_max": 0.8327205880897249
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.449949330739519,
+        8.502277825640716,
+        0.840950346164403
+      ],
+      "rotation_wxyz": [
+        0.7390078947347555,
+        -0.0004174417392698394,
+        -0.00029482572912770697,
+        -0.6736965714176439
+      ],
+      "yaw_degrees_local": -84.76475027550528,
+      "yaw_radians": -1.4783991821433065,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.449949330739519,
+        8.502277825640716,
+        0.941167226227053
+      ],
+      "z_min": 0.7406933406861245,
+      "z_max": 0.9411271008114245
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.7211031643235772,
+        8.757591400968089,
+        0.7744696461881875
+      ],
+      "rotation_wxyz": [
+        0.24113514704192032,
+        -6.0802322140784e-05,
+        0.000507427722796657,
+        0.9704914114412633
+      ],
+      "yaw_degrees_local": 152.03419119034498,
+      "yaw_radians": 2.654522075310963,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7211031643235772,
+        8.757591400968089,
+        0.8084682023588663
+      ],
+      "z_min": 0.7404000033745617,
+      "z_max": 0.8083971157159193
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.7353920065163209,
+        8.202411499351612,
+        0.7805606432376062
+      ],
+      "rotation_wxyz": [
+        0.9007475130547773,
+        -0.0004292675847264068,
+        0.0002773250023771204,
+        0.43434278691583894
+      ],
+      "yaw_degrees_local": 51.428260320741344,
+      "yaw_radians": 0.8986169290252864,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7353920065163209,
+        8.202411499351612,
+        0.819909502563482
+      ],
+      "z_min": 0.7412146792796699,
+      "z_max": 0.8199123979314216
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.2563966420725934,
+        8.313441644814707,
+        0.7756428440372438
+      ],
+      "rotation_wxyz": [
+        0.12153111141129253,
+        -0.00012451132297907285,
+        -0.0004956578927953368,
+        -0.9925874912466509
+      ],
+      "yaw_degrees_local": -166.09775737216688,
+      "yaw_radians": -2.8979282315174237,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2563966420725934,
+        8.313441644814707,
+        0.8102425710200791
+      ],
+      "z_min": 0.7410360545868605,
+      "z_max": 0.810235508552531
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.4976683793385006,
+        8.236825193721526,
+        0.7445100421627684
+      ],
+      "rotation_wxyz": [
+        0.17754562595013418,
+        -2.769216194317296e-05,
+        0.0005103067316891143,
+        0.9841124374410471
+      ],
+      "yaw_degrees_local": 159.48762292471724,
+      "yaw_radians": 2.784608943551328,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4976683793385006,
+        8.236825193721526,
+        0.7480851027389882
+      ],
+      "z_min": 0.7409564747160649,
+      "z_max": 0.7481065958685045
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.698944984199083,
+        8.224274661900257,
+        0.7803007941146582
+      ],
+      "rotation_wxyz": [
+        0.995499017890933,
+        -0.0004988296748557206,
+        0.00011112502744048576,
+        0.09477048168270492
+      ],
+      "yaw_degrees_local": 10.817510566731642,
+      "yaw_radians": 0.1898257128853111,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.698944984199083,
+        8.224274661900257,
+        0.8195408689545495
+      ],
+      "z_min": 0.7409437206002476,
+      "z_max": 0.8194238702800302
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.547913853329736,
+        8.560249149989032,
+        0.7656487964215687
+      ],
+      "rotation_wxyz": [
+        0.9998679113780768,
+        -0.0005080780988275752,
+        5.5104099049611964e-05,
+        -0.016244956652023832
+      ],
+      "yaw_degrees_local": -1.9203274572675753,
+      "yaw_radians": -0.03249139440189674,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.547913853329736,
+        8.560249149989032,
+        0.790593037991694
+      ],
+      "z_min": 0.7406220927915387,
+      "z_max": 0.7905105759317893
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.844709144230677,
+        8.884798362308981,
+        0.8572216489214163
+      ],
+      "rotation_wxyz": [
+        0.0734496478690051,
+        -0.00010042690932045463,
+        -0.0005010930573502828,
+        -0.9972987957719107
+      ],
+      "yaw_degrees_local": -171.63441341101299,
+      "yaw_radians": -2.994561068498801,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.844709144230677,
+        8.884798362308981,
+        0.9740804675973886
+      ],
+      "z_min": 0.7403820693211517,
+      "z_max": 0.9740997066730965
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.9267778950679197,
+        8.922055157256446,
+        0.7457477380814073
+      ],
+      "rotation_wxyz": [
+        0.9972860599265744,
+        -0.0005104036911461545,
+        2.5843535065728456e-05,
+        -0.07362237089576217
+      ],
+      "yaw_degrees_local": -8.502853763768712,
+      "yaw_radians": -0.14737809181041656,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9267778950679197,
+        8.922055157256446,
+        0.7510487287125207
+      ],
+      "z_min": 0.7404605269281396,
+      "z_max": 0.7510625081903666
+    }
+  ],
+  "variant_index": 137
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0139/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0139/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..42f3a4cb66eec0fb2a3e38d3f39a6210b4f92a7f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0139/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8703537387543718497
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995422324, -0.000510849124, 1.45941172e-05, -0.0955726744)
+            double3 xformOp:translate = (3.32283195028, 8.544328758, 0.740666744822)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.750208121, -0.000422329987, -0.000287779773, -0.661201568)
+            double3 xformOp:translate = (2.64628368559, 8.25126461533, 0.741049699328)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886773389, -0.00042041605, 0.000290568686, 0.46220417)
+            double3 xformOp:translate = (3.6588308186, 8.66006027272, 0.779377965035)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958228741, -0.000504051497, -8.43321088e-05, -0.286002479)
+            double3 xformOp:translate = (3.70652513085, 8.4703115505, 0.788273029065)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.112283908, -0.000119890878, -0.000496795726, -0.993676035)
+            double3 xformOp:translate = (1.86710482497, 8.76743578885, 0.882259841973)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.591706937, -0.000248993799, 0.000446298, 0.806152988)
+            double3 xformOp:translate = (1.77052230026, 8.35239831541, 0.750816705695)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.387771451, -0.000138251384, 0.00049200241, 0.921755413)
+            double3 xformOp:translate = (2.49755111908, 8.21213425064, 0.80535673748)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.872163972, -0.000411296332, 0.00030333998, 0.489213394)
+            double3 xformOp:translate = (3.52105925399, 8.42588084357, 0.746048976802)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.379077826, -0.000250858768, -0.000445252394, -0.925364653)
+            double3 xformOp:translate = (1.9244087679, 8.4961114401, 0.81885267265)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.895440321, -0.000482294551, -0.000169031898, -0.445181278)
+            double3 xformOp:translate = (3.58907257377, 8.76454227854, 0.779755648709)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964006499, -0.000505706605, -7.3760733e-05, -0.265878183)
+            double3 xformOp:translate = (3.68405630635, 8.88674186251, 0.813045947718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.810716318, -0.000374039304, 0.000348244764, 0.585438972)
+            double3 xformOp:translate = (2.77752657084, 8.29093078475, 0.779864010275)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.597224191, -0.000353673753, -0.000368910142, -0.802074189)
+            double3 xformOp:translate = (2.47437438944, 8.31106199809, 0.787601090201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.933361015, -0.000496061222, -0.000122894589, -0.35893865)
+            double3 xformOp:translate = (3.58709194831, 8.33818413102, 0.825252504092)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.860919712, -0.00040435713, 0.000312530203, 0.508740591)
+            double3 xformOp:translate = (3.21795616238, 8.30649005096, 0.755250288196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.76357679, -0.000428128486, -0.000279080303, -0.64571683)
+            double3 xformOp:translate = (2.04164114531, 8.2257161256, 0.871103451313)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994290603, 0, 0, -0.10670612)
+            double3 xformOp:translate = (4.96917395725, 8.31218862789, 0.997567546264)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.913746242, -0.00043763692, 0.000263919954, 0.406285053)
+            double3 xformOp:translate = (3.29082385706, 8.88291464582, 0.786340026454)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.974250682, -0.000479774612, 0.0001760572, 0.225466953)
+            double3 xformOp:translate = (1.98729859024, 8.39831153861, 0.756189738816)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0911380278, 1.68693394e-05, 0.000510779054, 0.995838139)
+            double3 xformOp:translate = (1.95691640493, 8.84192520534, 0.804786482253)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925589394, -0.000445401149, 0.000250594559, 0.378528747)
+            double3 xformOp:translate = (3.11213818765, 8.84602188164, 0.770979469797)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00453124708, 0, 0, 0.999989734)
+            double3 xformOp:translate = (4.84082035946, 8.8003637504, 0.996349555384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.91067681, -0.000435647414, 0.000267191217, 0.413119216)
+            double3 xformOp:translate = (3.49772366236, 8.87794473305, 0.810477930584)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.854854871, -0.000400640044, 0.000317281219, 0.518866927)
+            double3 xformOp:translate = (1.74896753105, 8.65359266698, 0.767354582702)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.194912942, -0.000160978969, -0.000485041841, -0.980820414)
+            double3 xformOp:translate = (3.40057243992, 8.26955386054, 0.788515408523)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.357500107, -0.000240457902, -0.000450954336, -0.933912958)
+            double3 xformOp:translate = (2.24471198515, 8.29083123084, 0.818428006959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.539611304, 0, 0, 0.841914272)
+            double3 xformOp:translate = (4.83233777845, 8.6613773257, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.540304083, -0.000327304384, -0.000392494148, -0.841469688)
+            double3 xformOp:translate = (1.96745054908, 8.71832530623, 0.746602256031)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.915187109, -0.000489638086, -0.000146404786, -0.403028901)
+            double3 xformOp:translate = (3.41991333767, 8.82924564412, 0.766964719094)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952325631, -0.00046361235, 0.000215042799, 0.30508299)
+            double3 xformOp:translate = (3.47910679208, 8.68811659988, 0.748495349362)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0139/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0139/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a38b7adc571f07d0e253818df18fe9ef33c6f27
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0139/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8703537387543718497,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 3,
+    "drinkware": 7,
+    "clock": 3,
+    "paper goods": 2,
+    "small object": 7,
+    "office_supplies": 1,
+    "small prop": 1,
+    "book": 1,
+    "paper_goods": 2,
+    "writing_instrument": 1,
+    "office_supply": 2
+  },
+  "failed_sampling_attempt_count": 244,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.322831950278429,
+        8.544328757995821,
+        0.7406667448217302
+      ],
+      "rotation_wxyz": [
+        0.9954223238005414,
+        -0.0005108491244815356,
+        1.45941171970483e-05,
+        -0.09557267444052213
+      ],
+      "yaw_degrees_local": -11.027275097457022,
+      "yaw_radians": -0.19143753287707335,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.322831950278429,
+        8.544328757995821,
+        0.9181667394573122
+      ],
+      "z_min": 0.7406667448217302,
+      "z_max": 1.095666734092894
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.6462836855932594,
+        8.251264615325043,
+        0.7410496993284135
+      ],
+      "rotation_wxyz": [
+        0.7502081209371038,
+        -0.0004223299874584984,
+        -0.00028777977332261764,
+        -0.6612015684344705
+      ],
+      "yaw_degrees_local": -82.8418750722719,
+      "yaw_radians": -1.4448386630906551,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6462836855932594,
+        8.251264615325043,
+        0.791049793205729
+      ],
+      "z_min": 0.7410496993284135,
+      "z_max": 0.8410498870830445
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.658830818595597,
+        8.660060272722594,
+        0.7793779650353345
+      ],
+      "rotation_wxyz": [
+        0.886773389207233,
+        -0.0004204160497662379,
+        0.00029056868609549926,
+        0.4622041702690502
+      ],
+      "yaw_degrees_local": 55.00015796189953,
+      "yaw_radians": 0.9609583200651546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.658830818595597,
+        8.660060272722594,
+        0.8183253965703412
+      ],
+      "z_min": 0.7405068150672135,
+      "z_max": 0.818401678137227
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.7065251308510465,
+        8.470311550499224,
+        0.7882730290654593
+      ],
+      "rotation_wxyz": [
+        0.9582287414499108,
+        -0.0005040514970374641,
+        -8.433210879969734e-05,
+        -0.2860024787995798
+      ],
+      "yaw_degrees_local": -33.29627663659335,
+      "yaw_radians": -0.5801047593751693,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7065251308510465,
+        8.470311550499224,
+        0.8356719544935597
+      ],
+      "z_min": 0.7406932259531596,
+      "z_max": 0.8354910768093605
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.8671048249650823,
+        8.76743578885432,
+        0.8822598419733265
+      ],
+      "rotation_wxyz": [
+        0.11228390779479841,
+        -0.00011989087832387459,
+        -0.0004967957261642279,
+        -0.993676035169669
+      ],
+      "yaw_degrees_local": -167.16472941216347,
+      "yaw_radians": -2.9165503993118267,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8671048249650823,
+        8.76743578885432,
+        1.023820629169078
+      ],
+      "z_min": 0.740624978734206,
+      "z_max": 1.0237465531257088
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20436342125653262,
+        0.14879127618011345,
+        0.018590556416936507
+      ],
+      "bbox_min_m": [
+        -0.1021962390178176,
+        -0.07430109887474819,
+        -0.009758614373121338
+      ],
+      "bbox_max_m": [
+        0.102167182238715,
+        0.07449017730536524,
+        0.008831942043815134
+      ],
+      "translation_world": [
+        1.7705223002574615,
+        8.352398315410863,
+        0.750816705694939
+      ],
+      "rotation_wxyz": [
+        0.5917069365260982,
+        -0.0002489937988643156,
+        0.0004462979995108978,
+        0.8061529880159746
+      ],
+      "yaw_degrees_local": 107.38481582578333,
+      "yaw_radians": 1.8752434904275668,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7705223002574615,
+        8.352398315410863,
+        0.7601119839034072
+      ],
+      "z_min": 0.7410580913218177,
+      "z_max": 0.7596486477387541
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.4975511190750104,
+        8.21213425063655,
+        0.8053567374803059
+      ],
+      "rotation_wxyz": [
+        0.38777145086868375,
+        -0.00013825138359601386,
+        0.0004920024097238758,
+        0.9217554126292832
+      ],
+      "yaw_degrees_local": 134.30947638068596,
+      "yaw_radians": 2.3451675241025636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4975511190750104,
+        8.21213425063655,
+        0.8695456915680264
+      ],
+      "z_min": 0.7411082647470395,
+      "z_max": 0.8694861729224804
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.521059253990809,
+        8.4258808435668,
+        0.7460489768015045
+      ],
+      "rotation_wxyz": [
+        0.8721639719529422,
+        -0.00041129633215936627,
+        0.00030333997987829576,
+        0.48921339397797736
+      ],
+      "yaw_degrees_local": 58.519084670434296,
+      "yaw_radians": 1.0223751969506722,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.521059253990809,
+        8.4258808435668,
+        0.751349967432618
+      ],
+      "z_min": 0.7407617656482368,
+      "z_max": 0.7513637469104638
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.924408767896097,
+        8.496111440099662,
+        0.8188526726499058
+      ],
+      "rotation_wxyz": [
+        0.3790778260810015,
+        -0.00025085876810110395,
+        -0.0004452523943867221,
+        -0.9253646527687807
+      ],
+      "yaw_degrees_local": -135.50555873205604,
+      "yaw_radians": -2.3639937186322304,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.924408767896097,
+        8.496111440099662,
+        0.896846197120404
+      ],
+      "z_min": 0.740892870884146,
+      "z_max": 0.8968799198251425
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.589072573771298,
+        8.764542278540432,
+        0.779755648708694
+      ],
+      "rotation_wxyz": [
+        0.8954403210117254,
+        -0.0004822945506382229,
+        -0.00016903189836533009,
+        -0.4451812780504164
+      ],
+      "yaw_degrees_local": -52.92859278930446,
+      "yaw_radians": -0.9227532614087317,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.589072573771298,
+        8.764542278540432,
+        0.8191045080345698
+      ],
+      "z_min": 0.7404096847507576,
+      "z_max": 0.8191074034025093
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.684056306349938,
+        8.886741862507767,
+        0.8130459477177087
+      ],
+      "rotation_wxyz": [
+        0.9640064993759103,
+        -0.0005057066051677868,
+        -7.376073298161231e-05,
+        -0.2658781825971945
+      ],
+      "yaw_degrees_local": -30.896996693469532,
+      "yaw_radians": -0.5382294387951507,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.684056306349938,
+        8.886741862507767,
+        0.8859083923244524
+      ],
+      "z_min": 0.7402737289158322,
+      "z_max": 0.8859986181293196
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        2.777526570843277,
+        8.290930784748868,
+        0.779864010275274
+      ],
+      "rotation_wxyz": [
+        0.8107163180678162,
+        -0.00037403930369163206,
+        0.00034824476382882153,
+        0.5854389724290208
+      ],
+      "yaw_degrees_local": 71.60931529955488,
+      "yaw_radians": 1.2508429175742601,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.777526570843277,
+        8.290930784748868,
+        0.8188114418102806
+      ],
+      "z_min": 0.740992860307153,
+      "z_max": 0.8188877233771664
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.4743743894428243,
+        8.311061998092427,
+        0.7876010902006904
+      ],
+      "rotation_wxyz": [
+        0.5972241912263969,
+        -0.00035367375273708397,
+        -0.0003689101419928444,
+        -0.8020741887345334
+      ],
+      "yaw_degrees_local": -106.71599409050003,
+      "yaw_radians": -1.8615208566439618,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4743743894428243,
+        8.311061998092427,
+        0.8341826934666083
+      ],
+      "z_min": 0.7410108563359903,
+      "z_max": 0.8341740628678262
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.587091948309814,
+        8.338184131023999,
+        0.8252525040920068
+      ],
+      "rotation_wxyz": [
+        0.9333610148619181,
+        -0.0004960612222132725,
+        -0.00012289458920793423,
+        -0.35893865040716105
+      ],
+      "yaw_degrees_local": -42.128774605617906,
+      "yaw_radians": -0.7342608913066583,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.587091948309814,
+        8.338184131023999,
+        0.9096626261867103
+      ],
+      "z_min": 0.7408423853902281,
+      "z_max": 0.9096626295796351
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        3.217956162382507,
+        8.306490050956914,
+        0.7552502881961355
+      ],
+      "rotation_wxyz": [
+        0.860919711905023,
+        -0.00040435712995389535,
+        0.00031253020285367813,
+        0.5087405905503866
+      ],
+      "yaw_degrees_local": 61.1012533619714,
+      "yaw_radians": 1.0674425588014127,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.217956162382507,
+        8.306490050956914,
+        0.7693465898285413
+      ],
+      "z_min": 0.7409212638561734,
+      "z_max": 0.7691138671209851
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.041641145308562,
+        8.2257161255958,
+        0.8711034513129992
+      ],
+      "rotation_wxyz": [
+        0.7635767902386316,
+        -0.00042812848636119237,
+        -0.00027908030279184327,
+        -0.6457168297551589
+      ],
+      "yaw_degrees_local": -80.49760747125539,
+      "yaw_radians": -1.4039234565941414,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.041641145308562,
+        8.2257161255958,
+        1.0012706008277683
+      ],
+      "z_min": 0.7411522881973629,
+      "z_max": 1.0014865872269012
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        4.9691739572454265,
+        8.312188627893338,
+        0.9975675462637151
+      ],
+      "rotation_wxyz": [
+        0.9942906034075806,
+        0.0,
+        0.0,
+        -0.10670611967169263
+      ],
+      "yaw_degrees_local": -102.25094466450614,
+      "yaw_radians": -0.2138193208752642,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9691739572454265,
+        8.312188627893338,
+        1.0749493013970546
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0749635391630106
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        3.290823857062316,
+        8.88291464581541,
+        0.7863400264535285
+      ],
+      "rotation_wxyz": [
+        0.9137462420188329,
+        -0.00043763692031382106,
+        0.0002639199541879068,
+        0.40628505266209886
+      ],
+      "yaw_degrees_local": 47.88465673413518,
+      "yaw_radians": 0.836769366090818,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.290823857062316,
+        8.88291464581541,
+        0.8325384409544083
+      ],
+      "z_min": 0.7403274196159118,
+      "z_max": 0.8327242486176715
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        1.9872985902383227,
+        8.398311538605281,
+        0.7561897388156571
+      ],
+      "rotation_wxyz": [
+        0.9742506823494295,
+        -0.0004797746123651155,
+        0.00017605719971138867,
+        0.22546695270450426
+      ],
+      "yaw_degrees_local": 26.001969388534633,
+      "yaw_radians": 0.45484442868667724,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9872985902383227,
+        8.398311538605281,
+        0.7713582157681885
+      ],
+      "z_min": 0.7409840616999938,
+      "z_max": 0.7713210156050566
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        1.9569164049251684,
+        8.841925205344076,
+        0.8047864822530396
+      ],
+      "rotation_wxyz": [
+        0.09113802777766311,
+        1.6869339387121953e-05,
+        0.0005107790536317584,
+        0.9958381388122177
+      ],
+      "yaw_degrees_local": 169.48312747842868,
+      "yaw_radians": 2.9590633215559037,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9569164049251684,
+        8.841925205344076,
+        0.8689754363407601
+      ],
+      "z_min": 0.7405380095197731,
+      "z_max": 0.8689159176952141
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.1121381876512757,
+        8.84602188163834,
+        0.7709794697972384
+      ],
+      "rotation_wxyz": [
+        0.9255893941594705,
+        -0.0004454011487957614,
+        0.0002505945587831639,
+        0.3785287469132143
+      ],
+      "yaw_degrees_local": 44.42645488424708,
+      "yaw_radians": 0.7764123485731516,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1121381876512757,
+        8.84602188163834,
+        0.8015818713026311
+      ],
+      "z_min": 0.7403874690638629,
+      "z_max": 0.8015922720746484
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        4.840820359464895,
+        8.800363750398931,
+        0.9963495553835341
+      ],
+      "rotation_wxyz": [
+        0.004531247081369927,
+        0.0,
+        0.0,
+        0.999989733847247
+      ],
+      "yaw_degrees_local": 89.48075555573092,
+      "yaw_radians": 3.1325301284146096,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.840820359464895,
+        8.800363750398931,
+        1.0725354939056202
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0725719059405041
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.497723662359599,
+        8.877944733046446,
+        0.810477930584163
+      ],
+      "rotation_wxyz": [
+        0.9106768098863596,
+        -0.00043564741433018366,
+        0.0002671912173476851,
+        0.41311921615362723
+      ],
+      "yaw_degrees_local": 48.74315694366899,
+      "yaw_radians": 0.8517530241793241,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.497723662359599,
+        8.877944733046446,
+        0.8806542968160818
+      ],
+      "z_min": 0.7403062584439428,
+      "z_max": 0.8806589909077805
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.748967531052259,
+        8.653592666982334,
+        0.7673545827017478
+      ],
+      "rotation_wxyz": [
+        0.8548548713428542,
+        -0.0004006400436239313,
+        0.00031728121861422404,
+        0.5188669268334378
+      ],
+      "yaw_degrees_local": 62.453854339274784,
+      "yaw_radians": 1.0910499084718985,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.748967531052259,
+        8.653592666982334,
+        0.7939290673578219
+      ],
+      "z_min": 0.7407553501290821,
+      "z_max": 0.7939043194412301
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.400572439915935,
+        8.269553860540746,
+        0.7885154085232068
+      ],
+      "rotation_wxyz": [
+        0.1949129418181117,
+        -0.00016097896931659464,
+        -0.0004850418411622646,
+        -0.9808204137006904
+      ],
+      "yaw_degrees_local": -157.57943156147343,
+      "yaw_radians": -2.749255448390237,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.400572439915935,
+        8.269553860540746,
+        0.8359143339513072
+      ],
+      "z_min": 0.7409356054109071,
+      "z_max": 0.835733456267108
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.2447119851497455,
+        8.290831230841176,
+        0.8184280069592532
+      ],
+      "rotation_wxyz": [
+        0.3575001070326632,
+        -0.00024045790222812323,
+        -0.0004509543363760492,
+        -0.9339129575564408
+      ],
+      "yaw_degrees_local": -138.16520832056614,
+      "yaw_radians": -2.41041336539644,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2447119851497455,
+        8.290831230841176,
+        0.8958097620925927
+      ],
+      "z_min": 0.7410604895918699,
+      "z_max": 0.8958239998585488
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.832337778452356,
+        8.661377325695259,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.5396113039093481,
+        0.0,
+        0.0,
+        0.8419142715818834
+      ],
+      "yaw_degrees_local": 155.31436507884916,
+      "yaw_radians": -2.0016419341142697,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.832337778452356,
+        8.661377325695259,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.9674505490830496,
+        8.718325306227673,
+        0.7466022560311435
+      ],
+      "rotation_wxyz": [
+        0.5403040831152903,
+        -0.00032730438400821286,
+        -0.00039249414829945807,
+        -0.8414696884553415
+      ],
+      "yaw_degrees_local": -114.65001781101995,
+      "yaw_radians": -1.9999957577382557,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9674505490830496,
+        8.718325306227673,
+        0.7524194687977158
+      ],
+      "z_min": 0.7406620033688338,
+      "z_max": 0.7522964289019785
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.4199133376664683,
+        8.829245644122611,
+        0.7669647190944272
+      ],
+      "rotation_wxyz": [
+        0.9151871087266986,
+        -0.0004896380857543955,
+        -0.00014640478550608904,
+        -0.4030289007511125
+      ],
+      "yaw_degrees_local": -47.59405053381602,
+      "yaw_radians": -0.829647938212816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4199133376664683,
+        8.829245644122611,
+        0.7935392037505012
+      ],
+      "z_min": 0.7403654865217615,
+      "z_max": 0.7935144558339094
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.4791067920836496,
+        8.688116599875928,
+        0.7484953493618495
+      ],
+      "rotation_wxyz": [
+        0.9523256313336809,
+        -0.0004636123499132162,
+        0.00021504279864310302,
+        0.30508298989797866
+      ],
+      "yaw_degrees_local": 35.46760806594406,
+      "yaw_radians": 0.6200509683796147,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4791067920836496,
+        8.688116599875928,
+        0.7565907747292836
+      ],
+      "z_min": 0.7405011145440981,
+      "z_max": 0.7566919652789663
+    }
+  ],
+  "variant_index": 139
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0140/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0140/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..291b2ad9d111656dd70676501e04500cf82a7ccc
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0140/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2817674096235075807
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991503606, -0.000511047824, -3.15244012e-06, -0.130078204)
+            double3 xformOp:translate = (2.86146439047, 8.29058937921, 0.740982551251)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.264500705, -0.000195226864, -0.000472298939, -0.964385357)
+            double3 xformOp:translate = (1.92264229356, 8.51735797344, 0.740871505058)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.932979356, -0.000450326988, 0.000241630752, 0.35992952)
+            double3 xformOp:translate = (3.52252260274, 8.72834655999, 0.835328352877)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.287943496, -8.53532667e-05, 0.000503879585, 0.957647264)
+            double3 xformOp:translate = (3.5915506841, 8.35886647736, 0.748815038663)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.946151388, -0.000500316563, -0.00010422645, -0.323724096)
+            double3 xformOp:translate = (3.28257367096, 8.84464686904, 0.813139510114)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.622986531, -0.000266371563, 0.000436149065, 0.782232396)
+            double3 xformOp:translate = (3.2965265113, 8.4331082962, 0.746139611153)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.971250343, -0.00050761777, -5.919473e-05, -0.238059887)
+            double3 xformOp:translate = (1.87060460871, 8.84976865598, 0.743661887608)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997822012, -0.000501832742, 9.66628947e-05, 0.0659618916)
+            double3 xformOp:translate = (3.34247389144, 8.32378329955, 0.813660197281)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.898472969, -0.000427817282, 0.000279557131, 0.439028545)
+            double3 xformOp:translate = (2.48190993101, 8.3028059533, 0.775087911394)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.714861363, -0.000406816486, -0.000309322102, -0.699266023)
+            double3 xformOp:translate = (3.60357364913, 8.64852942927, 0.805829838455)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999679227, -0.000508557422, 5.04892581e-05, -0.0253215548)
+            double3 xformOp:translate = (3.48212116683, 8.52673668603, 0.754042695306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.677209885, -0.000296811259, 0.000416032321, 0.735789719)
+            double3 xformOp:translate = (3.70919178147, 8.21713158973, 0.74688990226)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987350518, -0.000510745549, -1.78549883e-05, -0.158551865)
+            double3 xformOp:translate = (3.09932269364, 8.89843681174, 0.787859744094)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.430565604, -0.000161169076, 0.000484978706, 0.902559139)
+            double3 xformOp:translate = (1.80510735214, 8.71620994036, 0.75170476752)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.152926396, -1.49460357e-05, 0.000510838949, 0.988237449)
+            double3 xformOp:translate = (1.69865971503, 8.24099081837, 0.788503263997)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.346786232, -0.000116441566, 0.000497615492, 0.937944054)
+            double3 xformOp:translate = (1.86768143874, 8.23979500238, 0.827547284124)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.206004938, -0.000166460117, -0.000483188209, -0.978550819)
+            double3 xformOp:translate = (3.68533869048, 8.51746457093, 0.81193063844)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.113880084, 0, 0, 0.993494503)
+            double3 xformOp:translate = (4.91563975469, 8.79407595468, 1.06183489214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997455927, -0.000501309935, 9.93386398e-05, 0.071284021)
+            double3 xformOp:translate = (1.74891206668, 8.35352464902, 0.746749485603)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.452588509, -0.00017302395, 0.000480876834, 0.891719339)
+            double3 xformOp:translate = (3.09289194417, 8.24488616461, 0.801674105288)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999580852, -0.000505069666, 7.80028735e-05, 0.0289458119)
+            double3 xformOp:translate = (3.24970769542, 8.54351959787, 0.786888856019)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.965835882, 0, 0, -0.25915449)
+            double3 xformOp:translate = (4.90623883469, 8.12186218004, 0.924569688241)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.862594153, -0.000469484064, -0.000201902277, -0.505896299)
+            double3 xformOp:translate = (2.73966339027, 8.86460108046, 0.817783360218)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999521077, -0.000504912948, 7.9010957e-05, 0.0309411549)
+            double3 xformOp:translate = (2.33261411263, 8.29782833667, 0.752849600051)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.936678925, -0.000497189492, -0.000118247307, -0.350188993)
+            double3 xformOp:translate = (3.49304905555, 8.25337770597, 0.789805863081)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.20898539, -0.000167931503, -0.000482678803, -0.977918629)
+            double3 xformOp:translate = (2.12813870904, 8.29793702483, 0.787280037813)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.231631707, -5.58365093e-05, 0.00050799813, 0.972803418)
+            double3 xformOp:translate = (2.05503871728, 8.81243724249, 0.788079279574)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.391219536, -0.000140092339, 0.000491481386, 0.920297242)
+            double3 xformOp:translate = (3.72623795334, 8.66352968218, 0.740494735416)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.764500446, -0.000346853157, 0.000375330126, 0.644622996)
+            double3 xformOp:translate = (3.7083564258, 8.88161872585, 0.748442963735)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.285860937, -0.00020567163, -0.000467845057, -0.958270976)
+            double3 xformOp:translate = (2.15021804019, 8.88849127927, 0.740466255615)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0140/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0140/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc84f4739ad8c18eef907302b809102404a73cf1
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0140/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2817674096235075807,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 4,
+    "clock": 1,
+    "office_supply": 3,
+    "small object": 7,
+    "electronics": 3,
+    "drinkware": 6,
+    "small prop": 1,
+    "office_supplies": 1,
+    "decorative_object": 2,
+    "paper_goods": 1,
+    "stationery": 1
+  },
+  "failed_sampling_attempt_count": 157,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.861464390470254,
+        8.29058937920505,
+        0.7409825512511188
+      ],
+      "rotation_wxyz": [
+        0.9915036055322386,
+        -0.0005110478239476146,
+        -3.1524401216413884e-06,
+        -0.13007820354215802
+      ],
+      "yaw_degrees_local": -15.006935225806814,
+      "yaw_radians": -0.2608956697242226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.861464390470254,
+        8.29058937920505,
+        0.8909825572115833
+      ],
+      "z_min": 0.7409825512511188,
+      "z_max": 1.0409825631720477
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.922642293562567,
+        8.517357973438166,
+        0.7408715050575789
+      ],
+      "rotation_wxyz": [
+        0.2645007046357761,
+        -0.00019522686439941498,
+        -0.0004722989388693193,
+        -0.9643853566222177
+      ],
+      "yaw_degrees_local": -149.3841329055837,
+      "yaw_radians": -2.606220532281529,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.922642293562567,
+        8.517357973438166,
+        0.8908715110180434
+      ],
+      "z_min": 0.7408715050575789,
+      "z_max": 1.0408715169785079
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.5225226027368146,
+        8.72834655999425,
+        0.8353283528768554
+      ],
+      "rotation_wxyz": [
+        0.9329793562335027,
+        -0.00045032698759020983,
+        0.00024163075236451097,
+        0.35992952040962534
+      ],
+      "yaw_degrees_local": 42.133030744628115,
+      "yaw_radians": 0.7363845422328172,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5225226027368146,
+        8.72834655999425,
+        0.9302251989410589
+      ],
+      "z_min": 0.7404548565744407,
+      "z_max": 0.9302485487028479
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.591550684102764,
+        8.35886647736251,
+        0.7488150386634049
+      ],
+      "rotation_wxyz": [
+        0.2879434962747266,
+        -8.535326666092235e-05,
+        0.0005038795849313822,
+        0.9576472637528237
+      ],
+      "yaw_degrees_local": 146.47153282302713,
+      "yaw_radians": 2.557435406082672,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.591550684102764,
+        8.35886647736251,
+        0.7569104640308391
+      ],
+      "z_min": 0.7408208038456535,
+      "z_max": 0.7570116545805218
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.282573670956844,
+        8.844646869044846,
+        0.8131395101143172
+      ],
+      "rotation_wxyz": [
+        0.9461513878001584,
+        -0.0005003165632356087,
+        -0.00010422644958177312,
+        -0.3237240957729567
+      ],
+      "yaw_degrees_local": -37.83530079861984,
+      "yaw_radians": -0.6593256531782107,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.282573670956844,
+        8.844646869044846,
+        0.8860019547210609
+      ],
+      "z_min": 0.7403672913124407,
+      "z_max": 0.8860921805259281
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        3.2965265112977975,
+        8.433108296199553,
+        0.7461396111528777
+      ],
+      "rotation_wxyz": [
+        0.6229865305132335,
+        -0.00026637156257800084,
+        0.0004361490649881836,
+        0.7822323961709001
+      ],
+      "yaw_degrees_local": 102.87216512928836,
+      "yaw_radians": 1.7964828485258024,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2965265112977975,
+        8.433108296199553,
+        0.7514547326529587
+      ],
+      "z_min": 0.7407828839195981,
+      "z_max": 0.7514131269197599
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        1.8706046087146324,
+        8.849768655978965,
+        0.7436618876079303
+      ],
+      "rotation_wxyz": [
+        0.9712503430928386,
+        -0.0005076177697597932,
+        -5.9194730039136215e-05,
+        -0.23805988713394616
+      ],
+      "yaw_degrees_local": -27.602837233438464,
+      "yaw_radians": -0.48073553167217886,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8706046087146324,
+        8.849768655978965,
+        0.7466744040930897
+      ],
+      "z_min": 0.7405409583104648,
+      "z_max": 0.7465659912807836
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.342473891442244,
+        8.323783299550103,
+        0.8136601972814732
+      ],
+      "rotation_wxyz": [
+        0.9978220120216114,
+        -0.0005018327420886206,
+        9.666289468109565e-05,
+        0.06596189161422944
+      ],
+      "yaw_degrees_local": 7.5054585897387085,
+      "yaw_radians": 0.13201952629059083,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.342473891442244,
+        8.323783299550103,
+        0.886522641888217
+      ],
+      "z_min": 0.7408879784795968,
+      "z_max": 0.8866128676930841
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.4819099310148136,
+        8.30280595329862,
+        0.775087911394089
+      ],
+      "rotation_wxyz": [
+        0.8984729687985623,
+        -0.0004278172817308061,
+        0.0002795571313573966,
+        0.43902854481056414
+      ],
+      "yaw_degrees_local": 52.025126679080955,
+      "yaw_radians": 0.9090342147115522,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4819099310148136,
+        8.30280595329862,
+        0.8090864675647678
+      ],
+      "z_min": 0.7410182685804632,
+      "z_max": 0.8090153809218208
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.603573649131976,
+        8.64852942927272,
+        0.8058298384550822
+      ],
+      "rotation_wxyz": [
+        0.7148613625125722,
+        -0.0004068164861638951,
+        -0.0003093221020644564,
+        -0.6992660232035108
+      ],
+      "yaw_degrees_local": -88.79501818174909,
+      "yaw_radians": -1.5487406611654362,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.603573649131976,
+        8.64852942927272,
+        0.8711855628167237
+      ],
+      "z_min": 0.7405255249725796,
+      "z_max": 0.8712369736958626
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        3.4821211668284664,
+        8.526736686028546,
+        0.7540426953056929
+      ],
+      "rotation_wxyz": [
+        0.9996792273949541,
+        -0.0005085574215934758,
+        5.048925809029378e-05,
+        -0.02532155475502494
+      ],
+      "yaw_degrees_local": -2.960657403247211,
+      "yaw_radians": -0.05064856791174023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4821211668284664,
+        8.526736686028546,
+        0.7674471327129302
+      ],
+      "z_min": 0.7406644121332577,
+      "z_max": 0.7674732869477323
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.709191781468534,
+        8.21713158973263,
+        0.746889902259893
+      ],
+      "rotation_wxyz": [
+        0.6772098845184347,
+        -0.0002968112594193363,
+        0.0004160323214874297,
+        0.7357897193700877
+      ],
+      "yaw_degrees_local": 94.68928292859522,
+      "yaw_radians": 1.6536645487144177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.709191781468534,
+        8.21713158973263,
+        0.7527071150264654
+      ],
+      "z_min": 0.7409496495975834,
+      "z_max": 0.752584075130728
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.099322693639238,
+        8.898436811744736,
+        0.7878597440939765
+      ],
+      "rotation_wxyz": [
+        0.9873505178320676,
+        -0.0005107455488130265,
+        -1.7854988322398702e-05,
+        -0.15855186456466544
+      ],
+      "yaw_degrees_local": -18.304415333270697,
+      "yaw_radians": -0.31844752620116423,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.099322693639238,
+        8.898436811744736,
+        0.8353832212942203
+      ],
+      "z_min": 0.740335940737119,
+      "z_max": 0.8353828951376066
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        1.8051073521372014,
+        8.716209940363978,
+        0.7517047675203901
+      ],
+      "rotation_wxyz": [
+        0.4305656037873669,
+        -0.00016116907573631616,
+        0.00048497870599296857,
+        0.9025591391456874
+      ],
+      "yaw_degrees_local": 128.9343621765695,
+      "yaw_radians": 2.2513540900438898,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8051073521372014,
+        8.716209940363978,
+        0.7625841877235263
+      ],
+      "z_min": 0.7406847205593855,
+      "z_max": 0.762443560965658
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.6986597150293075,
+        8.240990818367319,
+        0.7885032639970919
+      ],
+      "rotation_wxyz": [
+        0.15292639573382408,
+        -1.4946035722769024e-05,
+        0.0005108389494317033,
+        0.988237449355187
+      ],
+      "yaw_degrees_local": 162.34817975439643,
+      "yaw_radians": 2.8345350548189465,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6986597150293075,
+        8.240990818367319,
+        0.8358693906583469
+      ],
+      "z_min": 0.7411802090823422,
+      "z_max": 0.8359124624048522
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        1.8676814387377583,
+        8.239795002384863,
+        0.8275472841235552
+      ],
+      "rotation_wxyz": [
+        0.34678623245812645,
+        -0.00011644156615954942,
+        0.0004976154920323763,
+        0.9379440536608152
+      ],
+      "yaw_degrees_local": 139.35953958360955,
+      "yaw_radians": 2.433307740197152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8676814387377583,
+        8.239795002384863,
+        0.9139465630818219
+      ],
+      "z_min": 0.7411600270811942,
+      "z_max": 0.9139585849977275
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        3.685338690479403,
+        8.517464570928167,
+        0.8119306384398827
+      ],
+      "rotation_wxyz": [
+        0.20600493767169717,
+        -0.00016646011731348548,
+        -0.0004831882092769786,
+        -0.978550818544987
+      ],
+      "yaw_degrees_local": -156.28204033801114,
+      "yaw_radians": -2.7266117056788053,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.685338690479403,
+        8.517464570928167,
+        0.8834088851699506
+      ],
+      "z_min": 0.7406480985696721,
+      "z_max": 0.883604592029808
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        4.915639754694437,
+        8.794075954684404,
+        1.0618348921354523
+      ],
+      "rotation_wxyz": [
+        -0.1138800836219927,
+        0.0,
+        0.0,
+        0.9934945025284478
+      ],
+      "yaw_degrees_local": 103.07806842334907,
+      "yaw_radians": -2.9133372998012486,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.915639754694437,
+        8.794075954684404,
+        1.2033956793312037
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2033216032878347
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        1.74891206667649,
+        8.353524649017334,
+        0.7467494856027782
+      ],
+      "rotation_wxyz": [
+        0.997455927429555,
+        -0.0005013099349580031,
+        9.933863977685286e-05,
+        0.07128402104139853
+      ],
+      "yaw_degrees_local": 8.11677158024608,
+      "yaw_radians": 0.14268894590772627,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.74891206667649,
+        8.353524649017334,
+        0.7525805366275644
+      ],
+      "z_min": 0.7410596848734535,
+      "z_max": 0.7527217869230259
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.092891944167955,
+        8.244886164605052,
+        0.8016741052876305
+      ],
+      "rotation_wxyz": [
+        0.4525885090321309,
+        -0.00017302394959391363,
+        0.00048087683361463303,
+        0.8917193394293167
+      ],
+      "yaw_degrees_local": 126.12151861965759,
+      "yaw_radians": 2.2022607083704027,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.092891944167955,
+        8.244886164605052,
+        0.8623009717428901
+      ],
+      "z_min": 0.7409996144855482,
+      "z_max": 0.8622533473960674
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.249707695415712,
+        8.543519597867052,
+        0.7868888560185178
+      ],
+      "rotation_wxyz": [
+        0.9995808515536424,
+        -0.000505069666452905,
+        7.800287346927605e-05,
+        0.028945811916048517
+      ],
+      "yaw_degrees_local": 3.258699092913389,
+      "yaw_radians": 0.05789962555313075,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.249707695415712,
+        8.543519597867052,
+        0.8330814559246003
+      ],
+      "z_min": 0.7406768545622869,
+      "z_max": 0.8330620543744518
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        4.906238834687288,
+        8.121862180044527,
+        0.9245696882411841
+      ],
+      "rotation_wxyz": [
+        0.9658358816521518,
+        0.0,
+        0.0,
+        -0.2591544900502608
+      ],
+      "yaw_degrees_local": -120.03979699875467,
+      "yaw_radians": -0.52429336425898,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.906238834687288,
+        8.121862180044527,
+        0.9289937177097378
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9290480878334392
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.739663390269559,
+        8.864601080457852,
+        0.8177833602177832
+      ],
+      "rotation_wxyz": [
+        0.8625941532155392,
+        -0.0004694840644528994,
+        -0.0002019022770181119,
+        -0.5058962993129628
+      ],
+      "yaw_degrees_local": -60.840456794847356,
+      "yaw_radians": -1.0608413500317373,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.739663390269559,
+        8.864601080457852,
+        0.8951651153511226
+      ],
+      "z_min": 0.7404158428503999,
+      "z_max": 0.8951793531170787
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        2.332614112629511,
+        8.29782833667479,
+        0.7528496000513575
+      ],
+      "rotation_wxyz": [
+        0.9995210771931474,
+        -0.0005049129478578025,
+        7.901095699873905e-05,
+        0.030941154904662933
+      ],
+      "yaw_degrees_local": 3.4874511986857044,
+      "yaw_radians": 0.06189210102411473,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.332614112629511,
+        8.29782833667479,
+        0.7645369250040241
+      ],
+      "z_min": 0.7410422213579584,
+      "z_max": 0.7644168712632917
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.4930490555455345,
+        8.253377705971669,
+        0.7898058630805146
+      ],
+      "rotation_wxyz": [
+        0.9366789247535674,
+        -0.0004971894917002466,
+        -0.00011824730687488424,
+        -0.3501889928919593
+      ],
+      "yaw_degrees_local": -41.056466407297364,
+      "yaw_radians": -0.7155455861807102,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4930490555455345,
+        8.253377705971669,
+        0.8386733275864637
+      ],
+      "z_min": 0.7409402955681964,
+      "z_max": 0.8386752245800948
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.1281387090430264,
+        8.297937024827679,
+        0.7872800378134948
+      ],
+      "rotation_wxyz": [
+        0.20898538973709635,
+        -0.00016793150258562195,
+        -0.00048267880280746526,
+        -0.9779186293841722
+      ],
+      "yaw_degrees_local": -155.93290696928986,
+      "yaw_radians": -2.720518180353304,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1281387090430264,
+        8.297937024827679,
+        0.8334726377195772
+      ],
+      "z_min": 0.7410680363572639,
+      "z_max": 0.8334532361694288
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        2.055038717279392,
+        8.812437242494482,
+        0.7880792795741882
+      ],
+      "rotation_wxyz": [
+        0.2316317072608982,
+        -5.583650928563973e-05,
+        0.0005079981303815077,
+        0.9728034184826787
+      ],
+      "yaw_degrees_local": 153.15497356720329,
+      "yaw_radians": 2.6740834102105406,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.055038717279392,
+        8.812437242494482,
+        0.835602756774432
+      ],
+      "z_min": 0.7405554762173306,
+      "z_max": 0.8356024306178182
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.7262379533401564,
+        8.663529682178055,
+        0.740494735416281
+      ],
+      "rotation_wxyz": [
+        0.39121953636593343,
+        -0.0001400923386876504,
+        0.000491481386098535,
+        0.9202972417571446
+      ],
+      "yaw_degrees_local": 133.88047558056616,
+      "yaw_radians": 2.3376800484965528,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7262379533401564,
+        8.663529682178055,
+        0.7904948292935965
+      ],
+      "z_min": 0.740494735416281,
+      "z_max": 0.840494923170912
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.7083564258012536,
+        8.88161872584515,
+        0.7484429637345899
+      ],
+      "rotation_wxyz": [
+        0.7645004458026203,
+        -0.00034685315735446967,
+        0.00037533012598717425,
+        0.6446229961673557
+      ],
+      "yaw_degrees_local": 80.21613200017833,
+      "yaw_radians": 1.4010602830268428,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7083564258012536,
+        8.88161872584515,
+        0.7566789704867305
+      ],
+      "z_min": 0.7402758123664268,
+      "z_max": 0.7567478258707082
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.15021804019451,
+        8.88849127927246,
+        0.7404662556146279
+      ],
+      "rotation_wxyz": [
+        0.28586093663908313,
+        -0.0002056716295499544,
+        -0.0004678450566572003,
+        -0.9582709761461057
+      ],
+      "yaw_degrees_local": -146.83807041033518,
+      "yaw_radians": -2.5617833635482823,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.15021804019451,
+        8.88849127927246,
+        0.7904663494919434
+      ],
+      "z_min": 0.7404662556146279,
+      "z_max": 0.8404664433692589
+    }
+  ],
+  "variant_index": 140
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0144/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0144/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..e2c77bdb291061396bad2c628a252a1897ed65e0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0144/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7548130983637503031
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.968373406, -0.000506883875, -6.51809252e-05, -0.249504882)
+            double3 xformOp:translate = (2.17524246117, 8.84652190559, 0.740505651682)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995767395, -0.000499147129, 0.00010969029, 0.0919077444)
+            double3 xformOp:translate = (1.87363099378, 8.55486335279, 0.740839675682)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990049892, -0.000493155673, 0.00013407945, 0.140715846)
+            double3 xformOp:translate = (1.77160820357, 8.74220112875, 0.744077140788)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.965855499, 0, 0, -0.259081367)
+            double3 xformOp:translate = (4.96326887206, 8.36693638421, 0.967723832253)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958627181, -0.000504168767, -8.36281691e-05, -0.284664129)
+            double3 xformOp:translate = (3.42243567981, 8.28527546765, 0.749736373705)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.322213814, -0.000103427911, 0.000500482251, 0.946666783)
+            double3 xformOp:translate = (1.98757878286, 8.39525197804, 0.819696732539)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.92771846, -0.000494108345, -0.000130524938, -0.373280321)
+            double3 xformOp:translate = (3.06658072567, 8.29579627466, 0.788374356126)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.924600211, -0.000493012185, -0.000134606098, -0.380938564)
+            double3 xformOp:translate = (3.61020881568, 8.27628319655, 0.78146574392)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900343982, -0.000484147603, -0.000163648754, -0.435178645)
+            double3 xformOp:translate = (2.76821248884, 8.21609908713, 0.805318423117)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.149777916, -1.33188513e-05, 0.000510883964, 0.988719533)
+            double3 xformOp:translate = (3.45941499551, 8.55922106958, 0.751753637479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.49629521, -0.000306677227, -0.00040881401, -0.868153675)
+            double3 xformOp:translate = (3.53304603835, 8.40188818103, 0.77575069953)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.966649036, -0.000473978808, 0.000191112286, 0.256104236)
+            double3 xformOp:translate = (3.66585952066, 8.64130459213, 0.747942914401)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995937621, 0, 0, -0.090045854)
+            double3 xformOp:translate = (4.94899546007, 8.16057702635, 0.960763557343)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.719824673, -0.000321059434, 0.000397618732, 0.694155731)
+            double3 xformOp:translate = (2.50804552856, 8.26246793257, 0.75967314564)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.754859593, -0.000424352093, -0.000284789602, -0.65588622)
+            double3 xformOp:translate = (1.83992660714, 8.347812814, 0.746704382605)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.232740554, -5.64155916e-05, 0.000507934147, 0.972538726)
+            double3 xformOp:translate = (2.01131446403, 8.86891419801, 0.804752216853)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.130660974, -3.45282691e-06, 0.000511045883, 0.991426976)
+            double3 xformOp:translate = (1.90942294186, 8.28106173082, 0.752132891934)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.302753582, -9.31537497e-05, 0.000502495965, 0.953068732)
+            double3 xformOp:translate = (2.22945887801, 8.29416714832, 0.755388030194)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985123943, -0.000488685623, 0.00014955326, 0.171844569)
+            double3 xformOp:translate = (3.12953073567, 8.88351126437, 0.805651574085)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.623098642, 0, 0, 0.782143262)
+            double3 xformOp:translate = (4.88212252232, 8.76318769657, 0.96762307847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.935766206, -0.000496880686, -0.000119538277, -0.352620684)
+            double3 xformOp:translate = (3.1673910689, 8.23035091067, 0.75003880009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.479937197, -0.000187806208, 0.000475298479, 0.877302699)
+            double3 xformOp:translate = (3.26400785784, 8.53945472336, 0.882314078526)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.214643367, -4.69750841e-05, 0.000508894054, 0.976692359)
+            double3 xformOp:translate = (2.95152614837, 8.21721535711, 0.806349906215)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.222034114, -5.08278062e-05, 0.000508523697, 0.975038764)
+            double3 xformOp:translate = (3.58510830637, 8.85433936945, 0.857158732009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.229864052, -5.49135466e-05, 0.000508098729, 0.973222614)
+            double3 xformOp:translate = (3.15762396868, 8.7478249777, 0.747139711188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.544786113, -0.000223145556, 0.000459767199, 0.83857488)
+            double3 xformOp:translate = (3.15181555125, 8.53020381685, 0.818070296542)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.629384442, -0.000368400216, -0.00035420488, -0.777093921)
+            double3 xformOp:translate = (2.03393459589, 8.6011986371, 0.740772370299)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.636705705, -0.000371733653, -0.000350704872, -0.771106727)
+            double3 xformOp:translate = (3.44063412152, 8.77480892538, 0.816567625017)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.396095339, -0.000142697212, 0.000490731415, 0.918209247)
+            double3 xformOp:translate = (2.67786317806, 8.21976688291, 0.767676890652)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.24735783, -0.000186820969, -0.0004756866, -0.968924064)
+            double3 xformOp:translate = (1.75696217629, 8.30246269098, 0.819070293113)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0144/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0144/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7e479690d02f61d5c218474889fbc6fd2389de
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0144/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7548130983637503031,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small object": 7,
+    "electronics accessory": 1,
+    "timepiece": 1,
+    "small_prop": 1,
+    "clock": 3,
+    "electronics": 4,
+    "writing_instrument": 1,
+    "book": 3,
+    "paper_goods": 1,
+    "small prop": 1
+  },
+  "failed_sampling_attempt_count": 135,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.175242461172306,
+        8.846521905593267,
+        0.740505651681702
+      ],
+      "rotation_wxyz": [
+        0.9683734055697483,
+        -0.0005068838754917797,
+        -6.518092517559484e-05,
+        -0.24950488212744804
+      ],
+      "yaw_degrees_local": -28.955145483503458,
+      "yaw_radians": -0.5043377540051546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.175242461172306,
+        8.846521905593267,
+        0.7905057455590175
+      ],
+      "z_min": 0.740505651681702,
+      "z_max": 0.8405058394363331
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.8736309937799407,
+        8.55486335278505,
+        0.7408396756816161
+      ],
+      "rotation_wxyz": [
+        0.9957673952006578,
+        -0.0004991471292367937,
+        0.00010969028951999426,
+        0.09190774437162938
+      ],
+      "yaw_degrees_local": 10.488026472190057,
+      "yaw_radians": 0.18407513304308115,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8736309937799407,
+        8.55486335278505,
+        0.7908397695589316
+      ],
+      "z_min": 0.7408396756816161,
+      "z_max": 0.8408398634362472
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        1.7716082035728096,
+        8.742201128753088,
+        0.744077140787993
+      ],
+      "rotation_wxyz": [
+        0.990049892435505,
+        -0.0004931556725830043,
+        0.00013407944972857448,
+        0.1407158459756012
+      ],
+      "yaw_degrees_local": 16.119834257309748,
+      "yaw_radians": 0.2823686830253954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7716082035728096,
+        8.742201128753088,
+        0.7475164228672081
+      ],
+      "z_min": 0.7406625998666377,
+      "z_max": 0.7475411640250678
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        4.963268872061187,
+        8.366936384213721,
+        0.9677238322531894
+      ],
+      "rotation_wxyz": [
+        0.9658554992897941,
+        0.0,
+        0.0,
+        -0.2590813665466176
+      ],
+      "yaw_degrees_local": -120.03112135174126,
+      "yaw_radians": -0.5241419456538555,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.963268872061187,
+        8.366936384213721,
+        1.0152473094534331
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0152469832968194
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        3.4224356798099462,
+        8.28527546764865,
+        0.7497363737050364
+      ],
+      "rotation_wxyz": [
+        0.9586271810650341,
+        -0.000504168766959195,
+        -8.362816907691803e-05,
+        -0.2846641293586013
+      ],
+      "yaw_degrees_local": -33.13626093354398,
+      "yaw_radians": -0.5773119593987385,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4224356798099462,
+        8.28527546764865,
+        0.7585384968284304
+      ],
+      "z_min": 0.7409168697072815,
+      "z_max": 0.7585211159540697
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        1.9875787828611775,
+        8.3952519780378,
+        0.8196967325385632
+      ],
+      "rotation_wxyz": [
+        0.32221381357724144,
+        -0.0001034279108450801,
+        0.0005004822509325728,
+        0.9466667825376545
+      ],
+      "yaw_degrees_local": 142.3475646845643,
+      "yaw_radians": 2.4854586043764235,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9875787828611775,
+        8.3952519780378,
+        0.8984073953631851
+      ],
+      "z_min": 0.7409871624759381,
+      "z_max": 0.898408488125182
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.0665807256699105,
+        8.295796274658573,
+        0.7883743561260483
+      ],
+      "rotation_wxyz": [
+        0.9277184597215884,
+        -0.0004941083451193131,
+        -0.0001305249383212514,
+        -0.3732803213564675
+      ],
+      "yaw_degrees_local": -43.89484846272143,
+      "yaw_radians": -0.7650846898822996,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0665807256699105,
+        8.295796274658573,
+        0.8358268818650287
+      ],
+      "z_min": 0.7409513065526198,
+      "z_max": 0.8358563580305807
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.610208815680642,
+        8.276283196546325,
+        0.7814657439196528
+      ],
+      "rotation_wxyz": [
+        0.9246002106556477,
+        -0.000493012185075237,
+        -0.00013460609795864722,
+        -0.380938563649988
+      ],
+      "yaw_degrees_local": -44.842379724702795,
+      "yaw_radians": -0.7816222278433488,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.610208815680642,
+        8.276283196546325,
+        0.8220157530591844
+      ],
+      "z_min": 0.7409022154730879,
+      "z_max": 0.8220022337521509
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.768212488843476,
+        8.21609908713121,
+        0.8053184231167518
+      ],
+      "rotation_wxyz": [
+        0.9003439819559947,
+        -0.0004841476030988312,
+        -0.00016364875390289168,
+        -0.4351786448986296
+      ],
+      "yaw_degrees_local": -51.65204140000276,
+      "yaw_radians": -0.9004732365494535,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.768212488843476,
+        8.21609908713121,
+        0.8695073772044724
+      ],
+      "z_min": 0.7410699503834854,
+      "z_max": 0.8694478585589264
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12027584687710438,
+        0.17582722148749907,
+        0.022221431277123893
+      ],
+      "bbox_min_m": [
+        -0.060292053851292125,
+        -0.0879992159381936,
+        -0.011119296335387484
+      ],
+      "bbox_max_m": [
+        0.05998379302581226,
+        0.08782800554930544,
+        0.011102134941736388
+      ],
+      "translation_world": [
+        3.4594149955102433,
+        8.559221069581755,
+        0.7517536374789255
+      ],
+      "rotation_wxyz": [
+        0.1497779162839574,
+        -1.3318851305172376e-05,
+        0.0005108839637728154,
+        0.9887195328372045
+      ],
+      "yaw_degrees_local": 162.7131739014057,
+      "yaw_radians": 2.8409054013195316,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4594149955102433,
+        8.559221069581755,
+        0.7628643531174875
+      ],
+      "z_min": 0.7406343411435381,
+      "z_max": 0.7628557724206619
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.5330460383456987,
+        8.401888181034284,
+        0.7757506995295844
+      ],
+      "rotation_wxyz": [
+        0.4962952096413418,
+        -0.000306677227118746,
+        -0.00040881400979793944,
+        -0.8681536751677323
+      ],
+      "yaw_degrees_local": -120.54831337645871,
+      "yaw_radians": -2.1029404762216375,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5330460383456987,
+        8.401888181034284,
+        0.8108637738727698
+      ],
+      "z_min": 0.7407845965426535,
+      "z_max": 0.8110107452290243
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.6658595206594926,
+        8.641304592127499,
+        0.7479429144005939
+      ],
+      "rotation_wxyz": [
+        0.9666490361862445,
+        -0.0004739788077535167,
+        0.00019111228647281534,
+        0.2561042359282421
+      ],
+      "yaw_degrees_local": 29.619345873032017,
+      "yaw_radians": 0.5179795473425369,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6658595206594926,
+        8.641304592127499,
+        0.7554828170436934
+      ],
+      "z_min": 0.7405249307076821,
+      "z_max": 0.755604735993881
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        4.948995460065389,
+        8.160577026352282,
+        0.9607635573428968
+      ],
+      "rotation_wxyz": [
+        0.9959376206296799,
+        0.0,
+        0.0,
+        -0.09004585395503611
+      ],
+      "yaw_degrees_local": -100.33249007965236,
+      "yaw_radians": -0.18033597181958486,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.948995460065389,
+        8.160577026352282,
+        1.0013135664824282
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0013000471753948
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_gray_spiral_notebook_001_gray_spiral_notebook_97bdf8f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.13119946620088396,
+        0.20527551234982738,
+        0.03783528975005837
+      ],
+      "bbox_min_m": [
+        -0.06564904973769033,
+        -0.10248890889559195,
+        -0.018617284421760038
+      ],
+      "bbox_max_m": [
+        0.06555041646319364,
+        0.10244654587045073,
+        0.018346014116485017
+      ],
+      "translation_world": [
+        2.5080455285642316,
+        8.262467932568372,
+        0.7596731456396348
+      ],
+      "rotation_wxyz": [
+        0.7198246731301011,
+        -0.00032105943449904336,
+        0.00039761873165064434,
+        0.6941557309230596
+      ],
+      "yaw_degrees_local": 87.86126001453351,
+      "yaw_radians": 1.5344930080442156,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5080455285642316,
+        8.262467932568372,
+        0.7785907905146641
+      ],
+      "z_min": 0.7410558612178748,
+      "z_max": 0.7780191597561199
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.8399266071398712,
+        8.347812813998416,
+        0.7467043826052951
+      ],
+      "rotation_wxyz": [
+        0.7548595926311183,
+        -0.00042435209279270225,
+        -0.000284789602308031,
+        -0.6558862204932852
+      ],
+      "yaw_degrees_local": -82.0324876014234,
+      "yaw_radians": -1.43071218037674,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8399266071398712,
+        8.347812813998416,
+        0.7523532338185772
+      ],
+      "z_min": 0.7410539463355083,
+      "z_max": 0.7523516487620725
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.011314464032316,
+        8.868914198005793,
+        0.8047522168532097
+      ],
+      "rotation_wxyz": [
+        0.23274055399834997,
+        -5.641559157923435e-05,
+        0.0005079341465850447,
+        0.9725387258843348
+      ],
+      "yaw_degrees_local": 153.02433900199583,
+      "yaw_radians": 2.671803407850253,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.011314464032316,
+        8.868914198005793,
+        0.8689411709409303
+      ],
+      "z_min": 0.7405037441199434,
+      "z_max": 0.8688816522953843
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        1.9094229418636255,
+        8.281061730823872,
+        0.7521328919343382
+      ],
+      "rotation_wxyz": [
+        0.13066097412333272,
+        -3.452826907239764e-06,
+        0.0005110458827019951,
+        0.9914269759600682
+      ],
+      "yaw_degrees_local": 164.9257093275104,
+      "yaw_radians": 2.879521410142902,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9094229418636255,
+        8.281061730823872,
+        0.7630123121374744
+      ],
+      "z_min": 0.7411128449733336,
+      "z_max": 0.7628716853796061
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        2.229458878012456,
+        8.294167148324167,
+        0.7553880301939625
+      ],
+      "rotation_wxyz": [
+        0.30275358151199927,
+        -9.31537496808505e-05,
+        0.0005024959653178422,
+        0.9530687318876017
+      ],
+      "yaw_degrees_local": 144.6951549889274,
+      "yaw_radians": 2.5264317735270576,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.229458878012456,
+        8.294167148324167,
+        0.7694843318263683
+      ],
+      "z_min": 0.7410590058540004,
+      "z_max": 0.7692516091188121
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.1295307356747197,
+        8.883511264366243,
+        0.8056515740850918
+      ],
+      "rotation_wxyz": [
+        0.9851239428841267,
+        -0.0004886856234236786,
+        0.0001495532604102071,
+        0.17184456923806427
+      ],
+      "yaw_degrees_local": 19.73145930149036,
+      "yaw_radians": 0.3454034103354596,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1295307356747197,
+        8.883511264366243,
+        0.8710072984467333
+      ],
+      "z_min": 0.7403472606025893,
+      "z_max": 0.8710587093258723
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        4.882122522323754,
+        8.76318769656667,
+        0.9676230784697604
+      ],
+      "rotation_wxyz": [
+        0.6230986421602415,
+        0.0,
+        0.0,
+        0.7821432619015928
+      ],
+      "yaw_degrees_local": 12.914462962733012,
+      "yaw_radians": 1.7961962266214495,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.882122522323754,
+        8.76318769656667,
+        1.0150756042087408
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0151050803742927
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.1673910688999007,
+        8.230350910674462,
+        0.7500388000900475
+      ],
+      "rotation_wxyz": [
+        0.935766205936326,
+        -0.0004968806863658779,
+        -0.00011953827737125336,
+        -0.3526206838058677
+      ],
+      "yaw_degrees_local": -41.35409979764313,
+      "yaw_radians": -0.7207402677919033,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1673910688999007,
+        8.230350910674462,
+        0.7588720461935298
+      ],
+      "z_min": 0.7410048905102482,
+      "z_max": 0.7586713827172127
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.2640078578366776,
+        8.539454723359626,
+        0.8823140785264061
+      ],
+      "rotation_wxyz": [
+        0.479937197387981,
+        -0.0001878062078608125,
+        0.00047529847940978507,
+        0.8773026988352162
+      ],
+      "yaw_degrees_local": 122.57868067935482,
+      "yaw_radians": 2.1404265175467048,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2640078578366776,
+        8.539454723359626,
+        1.0238748657221575
+      ],
+      "z_min": 0.7406792152872855,
+      "z_max": 1.0238007896787884
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.9515261483655717,
+        8.21721535710837,
+        0.8063499062145383
+      ],
+      "rotation_wxyz": [
+        0.21464336650204616,
+        -4.6975084123733726e-05,
+        0.0005088940535237966,
+        0.9766923589528343
+      ],
+      "yaw_degrees_local": 155.15207579345338,
+      "yaw_radians": 2.708939405083542,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9515261483655717,
+        8.21721535710837,
+        0.8717056305761798
+      ],
+      "z_min": 0.7410455927320357,
+      "z_max": 0.8717570414553187
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.585108306372825,
+        8.854339369451415,
+        0.8571587320086642
+      ],
+      "rotation_wxyz": [
+        0.22203411389825384,
+        -5.082780620319804e-05,
+        0.0005085236969472345,
+        0.9750387638886986
+      ],
+      "yaw_degrees_local": 154.2842172975014,
+      "yaw_radians": 2.693792423271941,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.585108306372825,
+        8.854339369451415,
+        0.9740175506846367
+      ],
+      "z_min": 0.7403191524083996,
+      "z_max": 0.9740367897603445
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.157623968681981,
+        8.747824977704843,
+        0.7471397111883464
+      ],
+      "rotation_wxyz": [
+        0.2298640515891333,
+        -5.491354661871525e-05,
+        0.0005080987292230386,
+        0.9732226141059467
+      ],
+      "yaw_degrees_local": 153.3631499843197,
+      "yaw_radians": 2.6777167726418365,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.157623968681981,
+        8.747824977704843,
+        0.7537525154718342
+      ],
+      "z_min": 0.7404812879221901,
+      "z_max": 0.7537068964891657
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.151815551248715,
+        8.530203816851596,
+        0.8180702965419813
+      ],
+      "rotation_wxyz": [
+        0.5447861130675835,
+        -0.00022314555610740156,
+        0.00045976719873195725,
+        0.838574880275398
+      ],
+      "yaw_degrees_local": 113.92118273868891,
+      "yaw_radians": 1.9893246477148714,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.151815551248715,
+        8.530203816851596,
+        0.8954520516753207
+      ],
+      "z_min": 0.7407027791745979,
+      "z_max": 0.8954662894412768
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.033934595888524,
+        8.601198637099108,
+        0.740772370299323
+      ],
+      "rotation_wxyz": [
+        0.6293844423537207,
+        -0.00036840021571851056,
+        -0.0003542048803995613,
+        -0.7770939213140712
+      ],
+      "yaw_degrees_local": -102.0492535049316,
+      "yaw_radians": -1.7800708269265462,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.033934595888524,
+        8.601198637099108,
+        0.8907723762597874
+      ],
+      "z_min": 0.740772370299323,
+      "z_max": 1.040772382220252
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.440634121524046,
+        8.774808925384093,
+        0.8165676250172953
+      ],
+      "rotation_wxyz": [
+        0.6367057052568703,
+        -0.00037173365291250435,
+        -0.000350704872410747,
+        -0.7711067265388983
+      ],
+      "yaw_degrees_local": -100.96548096202422,
+      "yaw_radians": -1.7611554179425788,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.440634121524046,
+        8.774808925384093,
+        0.8927535635393814
+      ],
+      "z_min": 0.740418098530093,
+      "z_max": 0.8927899755742653
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.677863178060318,
+        8.219766882912538,
+        0.7676768906521012
+      ],
+      "rotation_wxyz": [
+        0.39609533883624115,
+        -0.00014269721151953112,
+        0.0004907314154044581,
+        0.9182092470523193
+      ],
+      "yaw_degrees_local": 133.27267299724224,
+      "yaw_radians": 2.3270718933212873,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.677863178060318,
+        8.219766882912538,
+        0.7942513753081752
+      ],
+      "z_min": 0.7410776580794355,
+      "z_max": 0.7942266273915835
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.7569621762867957,
+        8.302462690979603,
+        0.8190702931131388
+      ],
+      "rotation_wxyz": [
+        0.2473578303912114,
+        -0.00018682096893913534,
+        -0.00047568660040509366,
+        -0.9689240643953152
+      ],
+      "yaw_degrees_local": -151.41627238836398,
+      "yaw_radians": -2.6416880518731203,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7569621762867957,
+        8.302462690979603,
+        0.8970638175836371
+      ],
+      "z_min": 0.741110491347379,
+      "z_max": 0.8970975402883755
+    }
+  ],
+  "variant_index": 144
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0146/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0146/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..eac24c56c42bb58ddfab4c643c5dc279cdb776ea
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0146/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6686139512983655333
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506579685, -0.000202274247, 0.000469323924, 0.862192995)
+            double3 xformOp:translate = (1.80450219221, 8.27014993365, 0.741137196894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.713779713, -0.000317600256, 0.00040038718, 0.700370088)
+            double3 xformOp:translate = (3.57513661496, 8.62342160336, 0.740250862641)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978807158, -0.000483395581, 0.000165856952, 0.204783511)
+            double3 xformOp:translate = (3.70929168879, 8.25385675076, 0.777567955868)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.957342857, -0.000467178448, 0.000207181356, 0.288953963)
+            double3 xformOp:translate = (3.57524255133, 8.85841330342, 0.749865743696)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996552263, -0.000510623483, 2.10588412e-05, -0.0829658107)
+            double3 xformOp:translate = (3.42900497968, 8.8223261269, 0.786948262365)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0508719758, -8.90664987e-05, -0.0005032365, -0.998705052)
+            double3 xformOp:translate = (2.37513590721, 8.28500745444, 0.787640089184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952309696, -0.000463601118, 0.000215067012, 0.305132728)
+            double3 xformOp:translate = (1.94645964939, 8.6908328365, 0.740388847195)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.548674584, -0.000225278311, 0.000458725952, 0.836035849)
+            double3 xformOp:translate = (2.52951531865, 8.83985804782, 0.882102460836)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.106517003, -0.000117006598, -0.000497482937, -0.99431075)
+            double3 xformOp:translate = (2.41456110289, 8.88837370127, 0.740432882304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.120666805, 1.69557471e-06, 0.000511054734, 0.992692934)
+            double3 xformOp:translate = (3.37584071065, 8.30706427032, 0.752701236874)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.55185975, -0.000332687233, -0.000387942033, -0.833936782)
+            double3 xformOp:translate = (3.51030916801, 8.3945278797, 0.793472875528)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.223198779, -0.00017494005, -0.000480183085, -0.974772816)
+            double3 xformOp:translate = (1.80357428504, 8.50599813714, 0.812180689725)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.859441452, 0, 0, -0.511234183)
+            double3 xformOp:translate = (4.83429895863, 8.59715673165, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.927220796, -0.000493934177, -0.000131182489, -0.374514799)
+            double3 xformOp:translate = (2.69318914273, 8.2468326148, 0.746698690653)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.369890912, -0.000128720174, 0.000494581574, 0.929075052)
+            double3 xformOp:translate = (2.99577849991, 8.8604835725, 0.80106205097)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.463370114, -0.000291121394, -0.000420033511, -0.8861647)
+            double3 xformOp:translate = (2.0117735573, 8.28310573004, 0.788621626371)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998293533, -0.000502551342, 9.28545365e-05, 0.0583931506)
+            double3 xformOp:translate = (2.86516721215, 8.18321924535, 0.813863237159)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.17529051, 0, 0, 0.984516753)
+            double3 xformOp:translate = (4.91010344779, 7.69697452461, 0.926140281559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.868403709, -0.00040896853, 0.000306471136, 0.495857577)
+            double3 xformOp:translate = (1.74800653824, 8.88571382136, 0.744840306059)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.971063221, -0.000507571159, -5.95930763e-05, -0.238822024)
+            double3 xformOp:translate = (2.21472167683, 8.22944083882, 0.78733853869)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.715261913, -0.000406993656, -0.000309088952, -0.698856305)
+            double3 xformOp:translate = (2.03422062228, 8.45716076142, 0.748336409476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.11143626, 6.4448562e-06, 0.000511016908, 0.993771452)
+            double3 xformOp:translate = (2.99720276253, 8.32535764074, 0.818464881737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.580197513, -0.000242629942, 0.000449789426, 0.81447565)
+            double3 xformOp:translate = (1.68843637307, 8.42079681258, 0.777654684518)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.718188049, -0.000408287024, -0.000307378468, -0.695848881)
+            double3 xformOp:translate = (3.15861921685, 8.73791938909, 0.826878507079)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0467822053, -8.70051765e-05, -0.000503596977, -0.998904983)
+            double3 xformOp:translate = (3.33547526963, 8.55038716667, 0.74369842337)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.538838226, -0.000326620537, -0.000393063406, -0.842409108)
+            double3 xformOp:translate = (2.53664548493, 8.24230525039, 0.776038798739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.77820562, 0, 0, -0.628009564)
+            double3 xformOp:translate = (4.81572594064, 8.10352402509, 0.992972247698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0828461422, -0.000105145359, -0.000500124254, -0.996562219)
+            double3 xformOp:translate = (1.68577848538, 8.2150494624, 0.841465184835)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.339141178, -0.000112387807, 0.000498546685, 0.940735351)
+            double3 xformOp:translate = (2.00525332063, 8.9008874242, 0.818431892727)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.090928725, 1.69766923e-05, 0.000510775497, 0.995857272)
+            double3 xformOp:translate = (2.77438029175, 8.26912947792, 0.746955605992)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0146/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0146/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..a37cc615d2d2c3b46a9e7be92584fcf235db7736
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0146/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6686139512983655333,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "book": 2,
+    "small electronic device": 2,
+    "electronics": 4,
+    "small object": 4,
+    "paper goods": 1,
+    "writing_instrument": 1,
+    "office_supply": 3,
+    "decorative_object": 1,
+    "clock": 2,
+    "small prop": 2,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 308,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.804502192207637,
+        8.27014993364787,
+        0.7411371968943121
+      ],
+      "rotation_wxyz": [
+        0.5065796854761114,
+        -0.00020227424662001313,
+        0.00046932392373990353,
+        0.862192995264464
+      ],
+      "yaw_degrees_local": 119.0687374708645,
+      "yaw_radians": 2.0791664442672935,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.804502192207637,
+        8.27014993364787,
+        0.7636342086080952
+      ],
+      "z_min": 0.7411371998892466,
+      "z_max": 0.7861312233168127
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.575136614961271,
+        8.623421603355707,
+        0.7402508626408045
+      ],
+      "rotation_wxyz": [
+        0.7137797131390121,
+        -0.00031760025594396754,
+        0.00040038717969565277,
+        0.7003700878331209
+      ],
+      "yaw_degrees_local": 88.8547117551505,
+      "yaw_radians": 1.5518320207657368,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.575136614961271,
+        8.623421603355707,
+        0.7490629300453103
+      ],
+      "z_min": 0.7405545588706256,
+      "z_max": 0.7581786936796372
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.7092916887851954,
+        8.253856750759903,
+        0.7775679558679061
+      ],
+      "rotation_wxyz": [
+        0.9788071578514588,
+        -0.00048339558104513195,
+        0.00016585695181798037,
+        0.20478351144301965
+      ],
+      "yaw_degrees_local": 23.57494533420615,
+      "yaw_radians": 0.41248487763275954,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7092916887851954,
+        8.253856750759903,
+        0.8141781689370847
+      ],
+      "z_min": 0.7409124051436213,
+      "z_max": 0.8141328312819787
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.5752425513259305,
+        8.858413303422784,
+        0.749865743695674
+      ],
+      "rotation_wxyz": [
+        0.9573428570956155,
+        -0.00046717844776987554,
+        0.00020718135577228532,
+        0.2889539630947945
+      ],
+      "yaw_degrees_local": 33.53197746623371,
+      "yaw_radians": 0.5862678433529582,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5752425513259305,
+        8.858413303422784,
+        0.7593695766178785
+      ],
+      "z_min": 0.7403162144516751,
+      "z_max": 0.7593238802960838
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.4290049796804922,
+        8.822326126895382,
+        0.7869482623654466
+      ],
+      "rotation_wxyz": [
+        0.9965522630939159,
+        -0.0005106234830539838,
+        2.1058841234278005e-05,
+        -0.08296581068475616
+      ],
+      "yaw_degrees_local": -9.576834018267789,
+      "yaw_radians": -0.1661225735826786,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4290049796804922,
+        8.822326126895382,
+        0.8333154305013315
+      ],
+      "z_min": 0.7403713630330877,
+      "z_max": 0.8331056993048576
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.3751359072090716,
+        8.28500745444366,
+        0.7876400891841132
+      ],
+      "rotation_wxyz": [
+        0.050871975791120266,
+        -8.906649865187377e-05,
+        -0.0005032365001251482,
+        -0.9987050520044902
+      ],
+      "yaw_degrees_local": -174.22669329123775,
+      "yaw_radians": -3.0398048667789905,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3751359072090716,
+        8.28500745444366,
+        0.8342216924500312
+      ],
+      "z_min": 0.7410498553194131,
+      "z_max": 0.8342130618512491
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        1.9464596493889612,
+        8.690832836497103,
+        0.7403888471953702
+      ],
+      "rotation_wxyz": [
+        0.9523096959103556,
+        -0.0004636011178493598,
+        0.00021506701227556188,
+        0.30513272832541255
+      ],
+      "yaw_degrees_local": 35.4735930478042,
+      "yaw_radians": 0.6201554260142753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9464596493889612,
+        8.690832836497103,
+        0.749200914599876
+      ],
+      "z_min": 0.7406925434251913,
+      "z_max": 0.7583166782342029
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.5295153186506907,
+        8.839858047823316,
+        0.8821024608361965
+      ],
+      "rotation_wxyz": [
+        0.54867458371206,
+        -0.00022527831065874047,
+        0.0004587259519441391,
+        0.836035848518819
+      ],
+      "yaw_degrees_local": 113.38901713758605,
+      "yaw_radians": 1.9800366035073602,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5295153186506907,
+        8.839858047823316,
+        1.0236632480319479
+      ],
+      "z_min": 0.7404675975970759,
+      "z_max": 1.0235891719885788
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.4145611028886433,
+        8.888373701270925,
+        0.7404328823038028
+      ],
+      "rotation_wxyz": [
+        0.10651700271481175,
+        -0.00011700659824974618,
+        -0.0004974829365981663,
+        -0.9943107496918842
+      ],
+      "yaw_degrees_local": -167.82955957626876,
+      "yaw_radians": -2.928153869956077,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4145611028886433,
+        8.888373701270925,
+        0.7904329761811183
+      ],
+      "z_min": 0.7404328823038028,
+      "z_max": 0.8404330700584338
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.375840710651884,
+        8.307064270318715,
+        0.7527012368739391
+      ],
+      "rotation_wxyz": [
+        0.12066680527520049,
+        1.6955747058743645e-06,
+        0.0005110547341202597,
+        0.9926929338546038
+      ],
+      "yaw_degrees_local": 166.08011304893722,
+      "yaw_radians": 2.899669545796674,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.375840710651884,
+        8.307064270318715,
+        0.7645725074205089
+      ],
+      "z_min": 0.7409006759944897,
+      "z_max": 0.7646432170876292
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.5103091680121814,
+        8.394527879698026,
+        0.7934728755283376
+      ],
+      "rotation_wxyz": [
+        0.5518597495608347,
+        -0.0003326872331004101,
+        -0.00038794203326309714,
+        -0.833936781557713
+      ],
+      "yaw_degrees_local": -113.06931383264248,
+      "yaw_radians": -1.9724072567811703,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5103091680121814,
+        8.394527879698026,
+        0.8460219043875556
+      ],
+      "z_min": 0.740794951635995,
+      "z_max": 0.8458930093544312
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        1.8035742850429834,
+        8.505998137137514,
+        0.8121806897245214
+      ],
+      "rotation_wxyz": [
+        0.2231987794006825,
+        -0.0001749400503167813,
+        -0.0004801830849118643,
+        -0.9747728164522386
+      ],
+      "yaw_degrees_local": -154.26474201628096,
+      "yaw_radians": -2.691403216084482,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8035742850429834,
+        8.505998137137514,
+        0.8836589364545895
+      ],
+      "z_min": 0.7408981498543108,
+      "z_max": 0.8838546433144467
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.83429895863493,
+        8.597156731652975,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        0.8594414523988668,
+        0.0,
+        0.0,
+        -0.5112341830301711
+      ],
+      "yaw_degrees_local": -151.49214614380645,
+      "yaw_radians": -1.073240414326957,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.83429895863493,
+        8.597156731652975,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.6931891427348553,
+        8.24683261479897,
+        0.7466986906533319
+      ],
+      "rotation_wxyz": [
+        0.9272207956552295,
+        -0.0004939341765818101,
+        -0.00013118248909348333,
+        -0.37451479933998216
+      ],
+      "yaw_degrees_local": -44.04737177087827,
+      "yaw_radians": -0.7677467234026779,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6931891427348553,
+        8.24683261479897,
+        0.752347541866614
+      ],
+      "z_min": 0.741048254383545,
+      "z_max": 0.7523459568101093
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.9957784999097754,
+        8.860483572504275,
+        0.8010620509704246
+      ],
+      "rotation_wxyz": [
+        0.3698909117963485,
+        -0.00012872017379470083,
+        0.0004945815737556087,
+        0.929075051968704
+      ],
+      "yaw_degrees_local": 136.52350424244645,
+      "yaw_radians": 2.3838095947329783,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9957784999097754,
+        8.860483572504275,
+        0.8616889174256842
+      ],
+      "z_min": 0.7403875601683423,
+      "z_max": 0.8616412930788615
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        2.011773557301617,
+        8.283105730043246,
+        0.7886216263708599
+      ],
+      "rotation_wxyz": [
+        0.4633701139622465,
+        -0.0002911213939821024,
+        -0.00042003351081339933,
+        -0.8861647004404987
+      ],
+      "yaw_degrees_local": -124.84912353635548,
+      "yaw_radians": -2.1780037986470324,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.011773557301617,
+        8.283105730043246,
+        0.8361451035711036
+      ],
+      "z_min": 0.7410978230140023,
+      "z_max": 0.8361447774144899
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        2.8651672121486795,
+        8.18321924535495,
+        0.8138632371592691
+      ],
+      "rotation_wxyz": [
+        0.9982935333798907,
+        -0.0005025513419538697,
+        9.285453645717752e-05,
+        0.05839315055789561
+      ],
+      "yaw_degrees_local": 6.6364611181102475,
+      "yaw_radians": 0.1168526661813358,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8651672121486795,
+        8.18321924535495,
+        0.8867256817660129
+      ],
+      "z_min": 0.7410910183573927,
+      "z_max": 0.88681590757088
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        4.910103447793203,
+        7.6969745246123145,
+        0.9261402815586415
+      ],
+      "rotation_wxyz": [
+        -0.17529050985653044,
+        0.0,
+        0.0,
+        0.9845167531099903
+      ],
+      "yaw_degrees_local": 110.19112884832401,
+      "yaw_radians": -2.7891909754921285,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.910103447793203,
+        7.6969745246123145,
+        0.9319574943252138
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318344544294764
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        1.7480065382402095,
+        8.885713821358419,
+        0.744840306058961
+      ],
+      "rotation_wxyz": [
+        0.8684037094847518,
+        -0.0004089685304870815,
+        0.00030647113618014615,
+        0.4958575765008606
+      ],
+      "yaw_degrees_local": 59.39392974981999,
+      "yaw_radians": 1.0376441293955736,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7480065382402095,
+        8.885713821358419,
+        0.7489769074190881
+      ],
+      "z_min": 0.7405200355064936,
+      "z_max": 0.7487932382267477
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.2147216768327995,
+        8.229440838817077,
+        0.7873385386903464
+      ],
+      "rotation_wxyz": [
+        0.9710632211380221,
+        -0.0005075711590454975,
+        -5.959307632202663e-05,
+        -0.2388220244726872
+      ],
+      "yaw_degrees_local": -27.692765557025865,
+      "yaw_radians": -0.4823050763902237,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2147216768327995,
+        8.229440838817077,
+        0.8335311385964289
+      ],
+      "z_min": 0.7411265372341156,
+      "z_max": 0.8335117370462805
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.03422062227793,
+        8.457160761421713,
+        0.748336409475501
+      ],
+      "rotation_wxyz": [
+        0.7152619128066948,
+        -0.0004069936557324901,
+        -0.00030908895229984516,
+        -0.6988563049070189
+      ],
+      "yaw_degrees_local": -88.72935914678014,
+      "yaw_radians": -1.5475946942485923,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.03422062227793,
+        8.457160761421713,
+        0.7558763121186004
+      ],
+      "z_min": 0.7409184257825892,
+      "z_max": 0.755998231068788
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.9972027625346445,
+        8.325357640739215,
+        0.8184648817365865
+      ],
+      "rotation_wxyz": [
+        0.11143626001184073,
+        6.4448562034481825e-06,
+        0.000511016907811111,
+        0.9937714519821735
+      ],
+      "yaw_degrees_local": 167.14505533242283,
+      "yaw_radians": 2.918256285505855,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9972027625346445,
+        8.325357640739215,
+        0.896171715570019
+      ],
+      "z_min": 0.7409301304587407,
+      "z_max": 0.8963437981256056
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        1.6884363730735,
+        8.420796812583074,
+        0.7776546845182118
+      ],
+      "rotation_wxyz": [
+        0.580197513405569,
+        -0.00024262994159856026,
+        0.0004497894259319486,
+        0.8144756498865873
+      ],
+      "yaw_degrees_local": 109.01240716370035,
+      "yaw_radians": 1.9036503275371408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6884363730735,
+        8.420796812583074,
+        0.8142648975873905
+      ],
+      "z_min": 0.7409991337939271,
+      "z_max": 0.8142195599322845
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.158619216849483,
+        8.737919389088708,
+        0.8268785070793496
+      ],
+      "rotation_wxyz": [
+        0.7181880485204409,
+        -0.0004082870239305433,
+        -0.00030737846757743545,
+        -0.6958488814265529
+      ],
+      "yaw_degrees_local": -88.2485264021049,
+      "yaw_radians": -1.5392025755191132,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.158619216849483,
+        8.737919389088708,
+        0.9132777860376163
+      ],
+      "z_min": 0.7404912500369887,
+      "z_max": 0.913289807953522
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.3354752696315257,
+        8.550387166666956,
+        0.743698423370498
+      ],
+      "rotation_wxyz": [
+        0.046782205296634974,
+        -8.700517648312217e-05,
+        -0.0005035969772600441,
+        -0.9989049825122346
+      ],
+      "yaw_degrees_local": -174.6959065151693,
+      "yaw_radians": -3.0479941785674374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3354752696315257,
+        8.550387166666956,
+        0.7468104266143736
+      ],
+      "z_min": 0.7406589998536574,
+      "z_max": 0.7468830063414085
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.5366454849260065,
+        8.242305250393555,
+        0.776038798739302
+      ],
+      "rotation_wxyz": [
+        0.5388382255132825,
+        -0.0003266205369789909,
+        -0.000393063405907836,
+        -0.8424091081807467
+      ],
+      "yaw_degrees_local": -114.84952726007157,
+      "yaw_radians": -2.0034778560004374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5366454849260065,
+        8.242305250393555,
+        0.8111518730824874
+      ],
+      "z_min": 0.7410726957523711,
+      "z_max": 0.8112988444387419
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        4.815725940639006,
+        8.103524025094385,
+        0.9929722476982082
+      ],
+      "rotation_wxyz": [
+        0.7782056204100434,
+        0.0,
+        0.0,
+        -0.6280095639098338
+      ],
+      "yaw_degrees_local": -167.80684792843743,
+      "yaw_radians": -1.3579856769497627,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.815725940639006,
+        8.103524025094385,
+        1.065834692304952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0659249181098192
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.6857784853823752,
+        8.21504946239967,
+        0.8414651848353699
+      ],
+      "rotation_wxyz": [
+        0.08284614224338259,
+        -0.00010514535898595737,
+        -0.0005001242542848995,
+        -0.9965622185973003
+      ],
+      "yaw_degrees_local": -170.55434718713602,
+      "yaw_radians": -2.9757103650871546,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6857784853823752,
+        8.21504946239967,
+        0.94168206489802
+      ],
+      "z_min": 0.7412081793570914,
+      "z_max": 0.9416419394823914
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.0052533206269696,
+        8.900887424199718,
+        0.8184318927267917
+      ],
+      "rotation_wxyz": [
+        0.33914117815931494,
+        -0.00011238780695199273,
+        0.000498546684964241,
+        0.9407353507213896
+      ],
+      "yaw_degrees_local": 140.29216688888744,
+      "yaw_radians": 2.449585153908636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0052533206269696,
+        8.900887424199718,
+        0.89642541719729
+      ],
+      "z_min": 0.740472090961032,
+      "z_max": 0.8964591399020284
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.7743802917530203,
+        8.269129477920492,
+        0.7469556059916623
+      ],
+      "rotation_wxyz": [
+        0.09092872498960686,
+        1.6976692255649886e-05,
+        0.0005107754968284692,
+        0.9958572717974943
+      ],
+      "yaw_degrees_local": 169.50721181640108,
+      "yaw_radians": 2.9594836723335884,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7743802917530203,
+        8.269129477920492,
+        0.7527728187582347
+      ],
+      "z_min": 0.7410153533293526,
+      "z_max": 0.7526497788624973
+    }
+  ],
+  "variant_index": 146
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0149/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0149/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..3620f8e0b09f115de9781ee44b72b56a03f76d17
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0149/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 342436659799907573
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.842506176, -0.000461374404, -0.000219803265, -0.538686441)
+            double3 xformOp:translate = (2.15454413309, 8.228006514, 0.7411355894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.824101522, -0.000382030629, 0.000339459003, 0.566441895)
+            double3 xformOp:translate = (3.21192438483, 8.30873656745, 0.740919742115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.249170817, -0.000187710928, -0.000475336117, -0.968459417)
+            double3 xformOp:translate = (1.70562649926, 8.40853817996, 0.741009369738)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999476721, 0, 0, -0.0323463106)
+            double3 xformOp:translate = (4.82391281296, 8.67711952349, 0.932710421032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.616223262, -0.000362389722, -0.000360351919, -0.78757135)
+            double3 xformOp:translate = (1.95867869351, 8.38570977787, 0.744039886146)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.201296194, -4.0026736e-05, 0.000509487661, 0.979530286)
+            double3 xformOp:translate = (3.33016725687, 8.57990558218, 0.840849271185)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.476280968, -0.000297233368, -0.000415730852, -0.879292999)
+            double3 xformOp:translate = (3.6690940317, 8.79440232986, 0.748363479358)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.156645597, -0.000142005947, -0.000490931897, -0.987654745)
+            double3 xformOp:translate = (1.76414146306, 8.79050322069, 0.796774504097)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.852991104, -0.000465629645, -0.000210639147, -0.5219252)
+            double3 xformOp:translate = (3.53158027963, 8.70709912485, 0.79315316064)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981638389, -0.000485720333, 0.000158920025, 0.190750653)
+            double3 xformOp:translate = (2.95759111195, 8.30294548487, 0.750979537612)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.363520292, -0.000243363429, -0.000449392988, -0.93158614)
+            double3 xformOp:translate = (3.06308782094, 8.87032593609, 0.751947751934)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.766700416, -0.000348134659, 0.000374141785, 0.642004837)
+            double3 xformOp:translate = (2.26440353166, 8.23131192446, 0.748536308201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999867091, -0.000508080875, 5.50784961e-05, -0.0162953417)
+            double3 xformOp:translate = (3.39015486218, 8.33880636846, 0.750888360038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.990502036, -0.000493588871, 0.000132475821, 0.13749711)
+            double3 xformOp:translate = (3.69375536641, 8.2325681545, 0.74687620181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.772994243, -0.000432188112, -0.000272751263, -0.63441283)
+            double3 xformOp:translate = (3.50181850989, 8.53492618132, 0.804902109714)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0950197212, 1.48778821e-05, 0.000510840939, 0.995475259)
+            double3 xformOp:translate = (3.37601539674, 8.81933874102, 0.786971340647)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.235989998, -5.8113064e-05, 0.000507742738, 0.97175535)
+            double3 xformOp:translate = (1.76308777169, 8.29074260962, 0.746374711801)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999820071, -0.000505823448, 7.29551595e-05, 0.018962161)
+            double3 xformOp:translate = (2.52989293982, 8.27209217751, 0.801717844679)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.420985292, -0.000156025151, 0.000486657958, 0.90706732)
+            double3 xformOp:translate = (1.99438503302, 8.26466857639, 0.801793223385)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.115394786, 4.40879822e-06, 0.00051103853, 0.993319577)
+            double3 xformOp:translate = (1.9102898707, 8.63191799035, 0.746044093583)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998292376, -0.000502549502, 9.28644937e-05, 0.0584129302)
+            double3 xformOp:translate = (2.03017364735, 8.74236352056, 0.827016975016)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.599661364, -0.000253401339, 0.000443810295, 0.800253702)
+            double3 xformOp:translate = (3.75386819727, 8.4754470458, 0.81345425091)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.9998148, -0.000505803295, 7.3094754e-05, 0.019238091)
+            double3 xformOp:translate = (3.24447539625, 8.4575900573, 0.82195437677)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.760891471, -0.000344753371, 0.000377259764, 0.648878962)
+            double3 xformOp:translate = (1.71463978409, 8.66353330216, 0.818117161268)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.198262261, -0.00016263492, -0.000484489111, -0.980148874)
+            double3 xformOp:translate = (3.19234148481, 8.76741964528, 0.882091949377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.948799087, -0.000461140001, 0.000220294612, 0.315879774)
+            double3 xformOp:translate = (3.60066704896, 8.43605431355, 0.788064437863)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.948387611, -0.000501031774, -0.00010073221, -0.317113036)
+            double3 xformOp:translate = (2.85244750024, 8.88382931623, 0.746322266433)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986228787, -0.000489655063, 0.000146347994, 0.165385969)
+            double3 xformOp:translate = (1.85652350517, 8.1854137621, 0.818584108663)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.939677887, -0.000498195352, -0.000113935101, -0.34206024)
+            double3 xformOp:translate = (1.7445294695, 8.48527488134, 0.835800157717)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0207363038, 0, 0, 0.99978498)
+            double3 xformOp:translate = (4.87246912579, 8.12167110138, 0.928367180264)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0149/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0149/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d545e9df3b428f5cbef251e94297bb0ca691ccf3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0149/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 342436659799907573,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 7,
+    "office_supply": 3,
+    "writing_instrument": 1,
+    "small object": 5,
+    "office_supplies": 1,
+    "small prop": 1,
+    "clock": 2,
+    "paper_goods": 2,
+    "stationery": 1
+  },
+  "failed_sampling_attempt_count": 159,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.1545441330881143,
+        8.228006513997633,
+        0.7411355894004839
+      ],
+      "rotation_wxyz": [
+        0.8425061764876178,
+        -0.00046137440420960466,
+        -0.00021980326517261948,
+        -0.5386864407059071
+      ],
+      "yaw_degrees_local": -65.24724772424071,
+      "yaw_radians": -1.137754376055885,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1545441330881143,
+        8.228006513997633,
+        0.7636326011142669
+      ],
+      "z_min": 0.7411355923954184,
+      "z_max": 0.7861296158229845
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.2119243848308017,
+        8.30873656745435,
+        0.7409197421149208
+      ],
+      "rotation_wxyz": [
+        0.8241015220096686,
+        -0.00038203062938067843,
+        0.00033945900261344566,
+        0.5664418948502413
+      ],
+      "yaw_degrees_local": 68.94625803684414,
+      "yaw_radians": 1.2043637781899987,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2119243848308017,
+        8.30873656745435,
+        0.7909198359922364
+      ],
+      "z_min": 0.7409197421149208,
+      "z_max": 0.8409199298695519
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7056264992614807,
+        8.408538179957668,
+        0.7410093697379483
+      ],
+      "rotation_wxyz": [
+        0.2491708172835371,
+        -0.00018771092786403604,
+        -0.00047533611665929115,
+        -0.9684594171334377
+      ],
+      "yaw_degrees_local": -151.20180484920832,
+      "yaw_radians": -2.6379448877888265,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7056264992614807,
+        8.408538179957668,
+        0.7910094636152638
+      ],
+      "z_min": 0.7410093697379483,
+      "z_max": 0.8410095574925793
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        4.823912812960994,
+        8.677119523494536,
+        0.9327104210321833
+      ],
+      "rotation_wxyz": [
+        0.9994767211836972,
+        0.0,
+        0.0,
+        -0.0323463106379378
+      ],
+      "yaw_degrees_local": -93.7072608309935,
+      "yaw_radians": -0.06470390773105769,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.823912812960994,
+        8.677119523494536,
+        0.9452812437974482
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9453416744268615
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        1.9586786935146203,
+        8.385709777867191,
+        0.7440398861458845
+      ],
+      "rotation_wxyz": [
+        0.6162232615292483,
+        -0.00036238972169996055,
+        -0.0003603519194433932,
+        -0.787571349637885
+      ],
+      "yaw_degrees_local": -103.9769816774618,
+      "yaw_radians": -1.8137160478291743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9586786935146203,
+        8.385709777867191,
+        0.7471518893897601
+      ],
+      "z_min": 0.7410004626290438,
+      "z_max": 0.747224469116795
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.330167256873647,
+        8.579905582178565,
+        0.8408492711851479
+      ],
+      "rotation_wxyz": [
+        0.20129619445875999,
+        -4.002673599747583e-05,
+        0.0005094876609356708,
+        0.979530285859812
+      ],
+      "yaw_degrees_local": 156.7157521205889,
+      "yaw_radians": 2.7362306935789253,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.330167256873647,
+        8.579905582178565,
+        0.9409379722771609
+      ],
+      "z_min": 0.7406297846209525,
+      "z_max": 0.9408071868049785
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.669094031699511,
+        8.794402329864896,
+        0.7483634793583746
+      ],
+      "rotation_wxyz": [
+        0.4762809684250377,
+        -0.00029723336826118006,
+        -0.00041573085167260116,
+        -0.8792929989123603
+      ],
+      "yaw_degrees_local": -123.17312918283021,
+      "yaw_radians": -2.1487521698807406,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.669094031699511,
+        8.794402329864896,
+        0.7564589047258087
+      ],
+      "z_min": 0.7403692445406231,
+      "z_max": 0.7565600952754914
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.7641414630588712,
+        8.790503220694108,
+        0.796774504097181
+      ],
+      "rotation_wxyz": [
+        0.15664559702527128,
+        -0.0001420059467864452,
+        -0.0004909318968223576,
+        -0.9876547452185811
+      ],
+      "yaw_degrees_local": -162.03421210709587,
+      "yaw_radians": -2.8270060129458883,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7641414630588712,
+        8.790503220694108,
+        0.8529567839070736
+      ],
+      "z_min": 0.7406145839272168,
+      "z_max": 0.8529791435470021
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.531580279625098,
+        8.707099124852986,
+        0.7931531606401049
+      ],
+      "rotation_wxyz": [
+        0.8529911043068421,
+        -0.0004656296447197683,
+        -0.00021063914688028667,
+        -0.5219252003817962
+      ],
+      "yaw_degrees_local": -62.98167747898975,
+      "yaw_radians": -1.098212707484877,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.531580279625098,
+        8.707099124852986,
+        0.845702189499323
+      ],
+      "z_min": 0.7404752367477623,
+      "z_max": 0.8455732944661986
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.9575911119511455,
+        8.302945484873952,
+        0.7509795376122812
+      ],
+      "rotation_wxyz": [
+        0.9816383893065382,
+        -0.00048572033292989354,
+        0.00015892002522900007,
+        0.19075065258040183
+      ],
+      "yaw_degrees_local": 21.934481803802015,
+      "yaw_radians": 0.3838533952750342,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9575911119511455,
+        8.302945484873952,
+        0.7610168885930999
+      ],
+      "z_min": 0.7409578451627791,
+      "z_max": 0.7610325471244165
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.0630878209354755,
+        8.87032593609073,
+        0.7519477519338961
+      ],
+      "rotation_wxyz": [
+        0.3635202921709555,
+        -0.00024336342900590553,
+        -0.00044939298799914556,
+        -0.9315861398712022
+      ],
+      "yaw_degrees_local": -137.42560999346904,
+      "yaw_radians": -2.3975049384185496,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0630878209354755,
+        8.87032593609073,
+        0.7634605063573465
+      ],
+      "z_min": 0.7403690239144449,
+      "z_max": 0.7633945327613457
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.264403531656804,
+        8.231311924457918,
+        0.7485363082006538
+      ],
+      "rotation_wxyz": [
+        0.7667004163778263,
+        -0.00034813465936206316,
+        0.00037414178487730137,
+        0.6420048367000453
+      ],
+      "yaw_degrees_local": 79.82425828829139,
+      "yaw_radians": 1.3942207929468142,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.264403531656804,
+        8.231311924457918,
+        0.7560762108437532
+      ],
+      "z_min": 0.741118324507742,
+      "z_max": 0.7561981297939409
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.390154862182219,
+        8.338806368461322,
+        0.750888360038432
+      ],
+      "rotation_wxyz": [
+        0.9998670914979634,
+        -0.0005080808749704904,
+        5.507849607182025e-05,
+        -0.0162953416529815
+      ],
+      "yaw_degrees_local": -1.9261019181853953,
+      "yaw_radians": -0.032592177705678904,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.390154862182219,
+        8.338806368461322,
+        0.7609257110192507
+      ],
+      "z_min": 0.7408666675889298,
+      "z_max": 0.7609413695505672
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.6937553664108256,
+        8.23256815449755,
+        0.7468762018102834
+      ],
+      "rotation_wxyz": [
+        0.9905020361826478,
+        -0.0004935888705933306,
+        0.000132475820687071,
+        0.13749710956312095
+      ],
+      "yaw_degrees_local": 15.747372729240965,
+      "yaw_radians": 0.27586800537276346,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6937553664108256,
+        8.23256815449755,
+        0.7526934145768557
+      ],
+      "z_min": 0.7409359491479737,
+      "z_max": 0.7525703746811183
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.501818509886335,
+        8.534926181321692,
+        0.8049021097139941
+      ],
+      "rotation_wxyz": [
+        0.7729942430418382,
+        -0.0004321881124235601,
+        -0.00027275126346191836,
+        -0.6344128301385146
+      ],
+      "yaw_degrees_local": -78.8116202387032,
+      "yaw_radians": -1.3744974156577994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.501818509886335,
+        8.534926181321692,
+        0.8690910638017146
+      ],
+      "z_min": 0.7406536369807277,
+      "z_max": 0.8690315451561686
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.376015396739104,
+        8.819338741016624,
+        0.7869713406471668
+      ],
+      "rotation_wxyz": [
+        0.09501972121884181,
+        1.4877882076253619e-05,
+        0.0005108409389088131,
+        0.9954752590595497
+      ],
+      "yaw_degrees_local": 169.03637837287425,
+      "yaw_radians": 2.9512660827751405,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.376015396739104,
+        8.819338741016624,
+        0.8335529439130848
+      ],
+      "z_min": 0.7403811067824667,
+      "z_max": 0.8335443133143027
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.7630877716919118,
+        8.290742609621667,
+        0.7463747118012529
+      ],
+      "rotation_wxyz": [
+        0.23598999849475125,
+        -5.811306404726545e-05,
+        0.0005077427380350713,
+        0.971755349576544
+      ],
+      "yaw_degrees_local": 152.641312001269,
+      "yaw_radians": 2.665118328239509,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7630877716919118,
+        8.290742609621667,
+        0.7516106271193864
+      ],
+      "z_min": 0.7411215641321718,
+      "z_max": 0.7515933947684388
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.5298929398240704,
+        8.272092177507382,
+        0.8017178446785705
+      ],
+      "rotation_wxyz": [
+        0.9998200714483573,
+        -0.0005058234483928405,
+        7.295515949052557e-05,
+        0.018962160984066622
+      ],
+      "yaw_degrees_local": 2.1143236914440706,
+      "yaw_radians": 0.03792651673855688,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5298929398240704,
+        8.272092177507382,
+        0.8623447111338302
+      ],
+      "z_min": 0.7410433538764882,
+      "z_max": 0.8622970867870074
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.9943850330192454,
+        8.264668576394882,
+        0.8017932233854748
+      ],
+      "rotation_wxyz": [
+        0.42098529151496644,
+        -0.0001560251508044158,
+        0.0004866579584849835,
+        0.9070673200751104
+      ],
+      "yaw_degrees_local": 130.14766523973873,
+      "yaw_radians": 2.2725302226568855,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9943850330192454,
+        8.264668576394882,
+        0.8624200898407344
+      ],
+      "z_min": 0.7411187325833924,
+      "z_max": 0.8623724654939117
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.910289870704681,
+        8.631917990345611,
+        0.7460440935831013
+      ],
+      "rotation_wxyz": [
+        0.11539478554440351,
+        4.408798224500992e-06,
+        0.0005110385296027378,
+        0.993319577119743
+      ],
+      "yaw_degrees_local": 166.68849546121692,
+      "yaw_radians": 2.9102878165951203,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.910289870704681,
+        8.631917990345611,
+        0.7513450842142148
+      ],
+      "z_min": 0.7407568824298336,
+      "z_max": 0.7513588636920606
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        2.0301736473453724,
+        8.742363520557017,
+        0.8270169750161991
+      ],
+      "rotation_wxyz": [
+        0.9982923762114831,
+        -0.0005025495020822383,
+        9.286449373795622e-05,
+        0.05841293023136679
+      ],
+      "yaw_degrees_local": 6.638731577507087,
+      "yaw_radians": 0.11689229315500521,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0301736473453724,
+        8.742363520557017,
+        0.9134162539744658
+      ],
+      "z_min": 0.7406297179738381,
+      "z_max": 0.9134282758903715
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.7538681972729036,
+        8.475447045800363,
+        0.8134542509104031
+      ],
+      "rotation_wxyz": [
+        0.5996613636693747,
+        -0.00025340133876071647,
+        0.00044381029478211657,
+        0.8002537021110055
+      ],
+      "yaw_degrees_local": 106.24998146113916,
+      "yaw_radians": 1.8554368873764016,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7538681972729036,
+        8.475447045800363,
+        0.8863166955171469
+      ],
+      "z_min": 0.7406820321085267,
+      "z_max": 0.886406921322014
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.2444753962491393,
+        8.457590057299905,
+        0.8219543767703119
+      ],
+      "rotation_wxyz": [
+        0.9998148001885994,
+        -0.0005058032949385408,
+        7.309475404998696e-05,
+        0.019238090965979286
+      ],
+      "yaw_degrees_local": 2.1459487116487423,
+      "yaw_radians": 0.03847847719390627,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2444753962491393,
+        8.457590057299905,
+        0.9031982300636769
+      ],
+      "z_min": 0.7407646882764253,
+      "z_max": 0.9032523948631552
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.714639784090751,
+        8.663533302162671,
+        0.8181171612677198
+      ],
+      "rotation_wxyz": [
+        0.760891471390413,
+        -0.0003447533710824136,
+        0.0003772597637803749,
+        0.6488789621998208
+      ],
+      "yaw_degrees_local": 80.85556965790971,
+      "yaw_radians": 1.4122205813265345,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.714639784090751,
+        8.663533302162671,
+        0.8954989164010593
+      ],
+      "z_min": 0.7407496439003365,
+      "z_max": 0.8955131541670154
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.1923414848123812,
+        8.767419645280008,
+        0.8820919493770396
+      ],
+      "rotation_wxyz": [
+        0.19826226064430044,
+        -0.00016263491991850903,
+        -0.0004844891113981952,
+        -0.9801488738066251
+      ],
+      "yaw_degrees_local": -157.18798913022349,
+      "yaw_radians": -2.7424234909392675,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1923414848123812,
+        8.767419645280008,
+        1.023652736572791
+      ],
+      "z_min": 0.740457086137919,
+      "z_max": 1.023578660529422
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.6006670489564825,
+        8.436054313548528,
+        0.788064437863399
+      ],
+      "rotation_wxyz": [
+        0.9487990868276358,
+        -0.0004611400007778411,
+        0.000220294611652045,
+        0.3158797740521357
+      ],
+      "yaw_degrees_local": 36.76916078981637,
+      "yaw_radians": 0.6427673480948891,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6006670489564825,
+        8.436054313548528,
+        0.8354305645246539
+      ],
+      "z_min": 0.7407413829486492,
+      "z_max": 0.8354736362711592
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.852447500235927,
+        8.88382931622709,
+        0.7463222664334411
+      ],
+      "rotation_wxyz": [
+        0.9483876113537572,
+        -0.0005010317736355501,
+        -0.00010073220958525353,
+        -0.31711303576311556
+      ],
+      "yaw_degrees_local": -37.03556154938036,
+      "yaw_radians": -0.6453675737104307,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.852447500235927,
+        8.88382931622709,
+        0.7521394792000134
+      ],
+      "z_min": 0.7403820137711314,
+      "z_max": 0.7520164393042761
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.8565235051716789,
+        8.185413762095973,
+        0.8185841086634581
+      ],
+      "rotation_wxyz": [
+        0.9862287868005634,
+        -0.0004896550632078261,
+        0.0001463479938887188,
+        0.16538596949582252
+      ],
+      "yaw_degrees_local": 18.980605986948376,
+      "yaw_radians": 0.33229855191000485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8565235051716789,
+        8.185413762095973,
+        0.8959658637967975
+      ],
+      "z_min": 0.7412165912960748,
+      "z_max": 0.8959801015627537
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.7445294694960718,
+        8.485274881338936,
+        0.8358001577168307
+      ],
+      "rotation_wxyz": [
+        0.939677886980328,
+        -0.0004981953523595848,
+        -0.00011393510050735836,
+        -0.342060239636778
+      ],
+      "yaw_degrees_local": -40.06360548092749,
+      "yaw_radians": -0.698216897572487,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7445294694960718,
+        8.485274881338936,
+        0.9306970037810343
+      ],
+      "z_min": 0.740926661414416,
+      "z_max": 0.9307203535428232
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        4.87246912579371,
+        8.121671101376318,
+        0.9283671802644948
+      ],
+      "rotation_wxyz": [
+        0.020736303781133225,
+        0.0,
+        0.0,
+        0.9997849797358913
+      ],
+      "yaw_degrees_local": 87.62362429586096,
+      "yaw_radians": 3.1001170732881684,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.87246912579371,
+        8.121671101376318,
+        0.9366031870166356
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9366720424006132
+    }
+  ],
+  "variant_index": 149
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0150/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0150/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..be1e8e5aa32e58f5cd5744eb6a224cc3b9f8a497
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0150/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1763540614779844529
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998251726, -0.000502485136, 9.32121483e-05, 0.0591035608)
+            double3 xformOp:translate = (2.5317755169, 8.87978019117, 0.740426743926)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.355256165, -0.000239374184, -0.000451530526, -0.934768846)
+            double3 xformOp:translate = (3.44278327992, 8.65358817857, 0.740540732434)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.451959218, -0.00017268461, 0.000480998796, 0.892038454)
+            double3 xformOp:translate = (1.90905577014, 8.52950495633, 0.744275449329)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.18764779, -3.2933988e-05, 0.000509995263, 0.982236247)
+            double3 xformOp:translate = (2.70405398193, 8.26585785469, 0.750577113066)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0174093977, -7.21695177e-05, -0.000505936139, -0.999848314)
+            double3 xformOp:translate = (3.47432836426, 8.7496412148, 0.805743663151)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.641691163, -0.000373999348, -0.000348287674, -0.766962966)
+            double3 xformOp:translate = (3.1616800238, 8.19627286806, 0.787630430636)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.709533238, -0.000404456967, -0.000312400989, -0.704671784)
+            double3 xformOp:translate = (3.69968381427, 8.50074511792, 0.744172630834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.786833738, -0.000359918217, 0.00036282047, 0.617164814)
+            double3 xformOp:translate = (3.48958592537, 8.51058819466, 0.81863968016)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.732813554, -0.000414727012, -0.000298632419, -0.680429301)
+            double3 xformOp:translate = (1.74798142765, 8.35910430167, 0.746307291164)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.550627812, -0.000226350238, 0.000458197977, 0.834750712)
+            double3 xformOp:translate = (2.88716130808, 8.30184838397, 0.748385863746)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.833429603, -0.00038763633, 0.000333043378, 0.552625403)
+            double3 xformOp:translate = (3.13420396808, 8.87834100529, 0.787931706196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955359316, -0.000503194616, -8.93028284e-05, -0.29544596)
+            double3 xformOp:translate = (3.36050271385, 8.59557458218, 0.771202013443)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.162987373, -2.01500758e-05, 0.000510660152, 0.986628023)
+            double3 xformOp:translate = (3.26242916992, 8.44151389185, 0.748945831702)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.854166455, -0.000466103685, -0.000209588099, -0.519999429)
+            double3 xformOp:translate = (2.17079365441, 8.88855429051, 0.810635293548)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.157607989, -1.73667612e-05, 0.000510762383, 0.987501626)
+            double3 xformOp:translate = (1.83611705016, 8.30595882837, 0.788620703899)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.620281245, -0.00026486366, 0.000437066422, 0.784379319)
+            double3 xformOp:translate = (1.82363906048, 8.78577350274, 0.754940845036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99464803, -0.000510947269, 1.06162432e-05, -0.103320059)
+            double3 xformOp:translate = (2.54312184741, 8.25935941954, 0.822965479453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0805254128, 0, 0, 0.996752556)
+            double3 xformOp:translate = (4.90285196017, 8.13774986907, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.771785766, 0, 0, 0.635882639)
+            double3 xformOp:translate = (4.84741880587, 8.7370854296, 1.0150735252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992514146, -0.000495582843, 0.000124809703, 0.122128661)
+            double3 xformOp:translate = (3.64648784896, 8.29869151738, 0.818834712939)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996653928, -0.000500241123, 0.000104587931, 0.0817354731)
+            double3 xformOp:translate = (3.45557329544, 8.29333806427, 0.770812634901)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.615568681, -0.000362090192, -0.000360652893, -0.788083078)
+            double3 xformOp:translate = (2.41070815892, 8.28094353386, 0.818584237476)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.170774085, -0.000149022192, -0.000488847832, -0.985310079)
+            double3 xformOp:translate = (2.03739308577, 8.2565326523, 0.744160928542)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.741303675, 0, 0, -0.671169771)
+            double3 xformOp:translate = (5.00727534821, 8.35930414398, 0.926140281559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999966221, -0.000506579136, 6.75084858e-05, 0.0082034138)
+            double3 xformOp:translate = (2.23458443899, 8.24616797362, 0.841364089111)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.843762624, -0.000393884221, 0.000325630214, 0.536716287)
+            double3 xformOp:translate = (1.6889024624, 8.48870011463, 0.788510013845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.531491671, -0.000215865982, 0.000463229634, 0.847063364)
+            double3 xformOp:translate = (3.71004145191, 8.84896759852, 0.749342624728)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977953033, -0.000509164723, -4.39442965e-05, -0.208824336)
+            double3 xformOp:translate = (2.73317422244, 8.86303867274, 0.752218776309)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.739126991, -0.000417493857, -0.000294751922, -0.673565906)
+            double3 xformOp:translate = (2.81017496938, 8.2435549564, 0.8709879845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.149780764, -1.33203227e-05, 0.000510883925, 0.988719101)
+            double3 xformOp:translate = (3.58441200809, 8.53450057946, 0.765670287093)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0150/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0150/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..a44566c11eb316eff1047be0bd286c4b21787221
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0150/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1763540614779844529,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 5,
+    "small object": 5,
+    "electronics": 7,
+    "small prop": 2,
+    "writing_instrument": 2,
+    "paper goods": 2,
+    "stationery": 1,
+    "book": 2,
+    "clock": 2,
+    "office_supply": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 210,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.531775516897578,
+        8.879780191169951,
+        0.7404267439257438
+      ],
+      "rotation_wxyz": [
+        0.9982517257304404,
+        -0.0005024851357542117,
+        9.321214827684293e-05,
+        0.0591035607758242
+      ],
+      "yaw_degrees_local": 6.718008992483249,
+      "yaw_radians": 0.11827594442896973,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.531775516897578,
+        8.879780191169951,
+        0.7629237556395269
+      ],
+      "z_min": 0.7404267469206783,
+      "z_max": 0.7854207703482444
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.442783279924892,
+        8.653588178570478,
+        0.7405407324338402
+      ],
+      "rotation_wxyz": [
+        0.35525616492611095,
+        -0.00023937418440125201,
+        -0.00045153052619125106,
+        -0.9347688463476818
+      ],
+      "yaw_degrees_local": -138.44041483269,
+      "yaw_radians": -2.4152166254944114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.442783279924892,
+        8.653588178570478,
+        0.7905408263111557
+      ],
+      "z_min": 0.7405407324338402,
+      "z_max": 0.8405409201884713
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_gray_tablet_001_gray_tablet_f84327b3/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18935551677962958,
+        0.15847143483608958,
+        0.0068785641584300635
+      ],
+      "bbox_min_m": [
+        -0.09467785732685063,
+        -0.07922573999776265,
+        -0.0034145409213552995
+      ],
+      "bbox_max_m": [
+        0.09467765945277896,
+        0.07924569483832694,
+        0.0034640232370747375
+      ],
+      "translation_world": [
+        1.9090557701353565,
+        8.529504956332637,
+        0.7442754493293847
+      ],
+      "rotation_wxyz": [
+        0.451959218488901,
+        -0.00017268461022867826,
+        0.00048099879587217475,
+        0.8920384541280079
+      ],
+      "yaw_degrees_local": 126.20237195265821,
+      "yaw_radians": 2.2036718652851293,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9090557701353565,
+        8.529504956332637,
+        0.7477147314085998
+      ],
+      "z_min": 0.7408609084080294,
+      "z_max": 0.7477394725664595
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        2.7040539819305223,
+        8.265857854692213,
+        0.7505771130664927
+      ],
+      "rotation_wxyz": [
+        0.1876477895584559,
+        -3.293398795456221e-05,
+        0.000509995263387535,
+        0.9822362474954839
+      ],
+      "yaw_degrees_local": 158.3101995087983,
+      "yaw_radians": 2.764059037744489,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7040539819305223,
+        8.265857854692213,
+        0.7600809459886971
+      ],
+      "z_min": 0.7410275838224937,
+      "z_max": 0.7600352496669024
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.474328364263019,
+        8.749641214797368,
+        0.8057436631510925
+      ],
+      "rotation_wxyz": [
+        0.017409397699042456,
+        -7.216951765507453e-05,
+        -0.0005059361392129905,
+        -0.9998483143417009
+      ],
+      "yaw_degrees_local": -178.0636393459587,
+      "yaw_radians": -3.1067721762613285,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.474328364263019,
+        8.749641214797368,
+        0.871099387512734
+      ],
+      "z_min": 0.7404393496685899,
+      "z_max": 0.8711507983918729
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.1616800238045246,
+        8.196272868064879,
+        0.7876304306360352
+      ],
+      "rotation_wxyz": [
+        0.6416911625441707,
+        -0.00037399934834916827,
+        -0.00034828767373352456,
+        -0.7669629656853678
+      ],
+      "yaw_degrees_local": -100.22261563523976,
+      "yaw_radians": -1.7481899653668993,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1616800238045246,
+        8.196272868064879,
+        0.8342120339019532
+      ],
+      "z_min": 0.7410401967713351,
+      "z_max": 0.8342034033031711
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.699683814265693,
+        8.50074511791687,
+        0.7441726308344438
+      ],
+      "rotation_wxyz": [
+        0.7095332382908205,
+        -0.0004044569672132867,
+        -0.000312400988975616,
+        -0.7046717835849011
+      ],
+      "yaw_degrees_local": -89.66479336272872,
+      "yaw_radians": -1.5639211094516816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.699683814265693,
+        8.50074511791687,
+        0.747752910315769
+      ],
+      "z_min": 0.7406632030316916,
+      "z_max": 0.7478237619943418
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.4895859253676575,
+        8.510588194660702,
+        0.8186396801601042
+      ],
+      "rotation_wxyz": [
+        0.78683373788066,
+        -0.00035991821688507184,
+        0.00036282046992222334,
+        0.6171648140917729
+      ],
+      "yaw_degrees_local": 76.16007830035136,
+      "yaw_radians": 1.3302687548614172,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4895859253676575,
+        8.510588194660702,
+        0.8966332046306025
+      ],
+      "z_min": 0.7406798783943445,
+      "z_max": 0.8966669273353409
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.7479814276452221,
+        8.359104301665015,
+        0.7463072911641987
+      ],
+      "rotation_wxyz": [
+        0.732813554262732,
+        -0.0004147270124504695,
+        -0.0002986324185084746,
+        -0.6804293008895237
+      ],
+      "yaw_degrees_local": -85.8131228017861,
+      "yaw_radians": -1.4966967432602531,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7479814276452221,
+        8.359104301665015,
+        0.7515432064823322
+      ],
+      "z_min": 0.7410541434951176,
+      "z_max": 0.7515259741313846
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.8871613080805316,
+        8.301848383971425,
+        0.748385863745716
+      ],
+      "rotation_wxyz": [
+        0.5506278121282704,
+        -0.00022635023804636945,
+        0.0004581979768360665,
+        0.8347507120877575
+      ],
+      "yaw_degrees_local": 113.12109136817816,
+      "yaw_radians": 1.9753604154911517,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8871613080805316,
+        8.301848383971425,
+        0.7559257663888155
+      ],
+      "z_min": 0.7409678800528042,
+      "z_max": 0.7560476853390031
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.1342039680803273,
+        8.87834100529039,
+        0.7879317061956538
+      ],
+      "rotation_wxyz": [
+        0.8334296025591547,
+        -0.00038763633011814735,
+        0.0003330433782750338,
+        0.5526254033233302
+      ],
+      "yaw_degrees_local": 67.03592692666214,
+      "yaw_radians": 1.1710221953823372,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1342039680803273,
+        8.87834100529039,
+        0.8353306316237542
+      ],
+      "z_min": 0.7403519030833541,
+      "z_max": 0.835149753939555
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.3605027138462336,
+        8.595574582183824,
+        0.7712020134433417
+      ],
+      "rotation_wxyz": [
+        0.9553593164691376,
+        -0.000503194615509964,
+        -8.930282841037072e-05,
+        -0.29544595995851125
+      ],
+      "yaw_degrees_local": -34.42727705176384,
+      "yaw_radians": -0.5998444343088235,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3605027138462336,
+        8.595574582183824,
+        0.8018044149487344
+      ],
+      "z_min": 0.7406100127099662,
+      "z_max": 0.8018148157207518
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.2624291699198804,
+        8.441513891847006,
+        0.7489458317015941
+      ],
+      "rotation_wxyz": [
+        0.16298737290653512,
+        -2.015007583869222e-05,
+        0.0005106601518466146,
+        0.986628022657582
+      ],
+      "yaw_degrees_local": 161.1806135562225,
+      "yaw_radians": 2.8141571902867764,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2624291699198804,
+        8.441513891847006,
+        0.7571818384537348
+      ],
+      "z_min": 0.7407786803334311,
+      "z_max": 0.7572506938377125
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.1707936544136266,
+        8.888554290505658,
+        0.8106352935483209
+      ],
+      "rotation_wxyz": [
+        0.8541664547415299,
+        -0.00046610368503084666,
+        -0.00020958809851940043,
+        -0.5199994292443694
+      ],
+      "yaw_degrees_local": -62.72314595424449,
+      "yaw_radians": -1.093700480299925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1707936544136266,
+        8.888554290505658,
+        0.8808116597802398
+      ],
+      "z_min": 0.7404636214081007,
+      "z_max": 0.8808163538719385
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.8361170501632018,
+        8.30595882836935,
+        0.7886207038994476
+      ],
+      "rotation_wxyz": [
+        0.1576079889099791,
+        -1.7366761155086736e-05,
+        0.0005107623829603104,
+        0.9875016256452118
+      ],
+      "yaw_degrees_local": 161.80512215784609,
+      "yaw_radians": 2.825056916337987,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8361170501632018,
+        8.30595882836935,
+        0.8361441810996914
+      ],
+      "z_min": 0.74109690054259,
+      "z_max": 0.8361438549430776
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_001_blue_paperback_book_01_72e585be/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13882491698568517,
+        0.19205917850868767,
+        0.02819260326481173
+      ],
+      "bbox_min_m": [
+        -0.06953476531725171,
+        -0.09597933844542625,
+        -0.014329024339962098
+      ],
+      "bbox_max_m": [
+        0.06929015166843346,
+        0.09607984006326141,
+        0.0138635789248496
+      ],
+      "translation_world": [
+        1.8236390604769168,
+        8.78577350273927,
+        0.7549408450362809
+      ],
+      "rotation_wxyz": [
+        0.6202812450974491,
+        -0.00026486366046012897,
+        0.0004370664224210939,
+        0.7843793188251091
+      ],
+      "yaw_degrees_local": 103.26792696650523,
+      "yaw_radians": 1.803390198382639,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8236390604769168,
+        8.78577350273927,
+        0.7690371466686867
+      ],
+      "z_min": 0.7406118206963188,
+      "z_max": 0.7688044239611305
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.543121847414715,
+        8.259359419536288,
+        0.8229654794534793
+      ],
+      "rotation_wxyz": [
+        0.9946480303720312,
+        -0.0005109472689239465,
+        1.061624319017356e-05,
+        -0.1033200585424874
+      ],
+      "yaw_degrees_local": -11.919485099807616,
+      "yaw_radians": -0.20700952699465977,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.543121847414715,
+        8.259359419536288,
+        0.9049014884942982
+      ],
+      "z_min": 0.7410546028249521,
+      "z_max": 0.9049266209065898
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.902851960167753,
+        8.137749869067289,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        -0.08052541276911002,
+        0.0,
+        0.0,
+        0.9967525560029253
+      ],
+      "yaw_degrees_local": 99.23753421530375,
+      "yaw_radians": -2.980367266767112,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.902851960167753,
+        8.137749869067289,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        4.847418805867726,
+        8.737085429602674,
+        1.0150735251987464
+      ],
+      "rotation_wxyz": [
+        0.7717857662014349,
+        0.0,
+        0.0,
+        0.6358826393988628
+      ],
+      "yaw_degrees_local": -11.029042072595928,
+      "yaw_radians": 1.3783032292871185,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.847418805867726,
+        8.737085429602674,
+        1.10997037126295
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.1099937210247388
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.6464878489595964,
+        8.298691517376954,
+        0.81883471293897
+      ],
+      "rotation_wxyz": [
+        0.9925141455092096,
+        -0.000495582842924084,
+        0.00012480970330705572,
+        0.12212866078160227
+      ],
+      "yaw_degrees_local": 13.971230643965754,
+      "yaw_radians": 0.24486848963260735,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6464878489595964,
+        8.298691517376954,
+        0.8968282374094683
+      ],
+      "z_min": 0.7408749111732102,
+      "z_max": 0.8968619601142067
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        3.455573295444841,
+        8.293338064272392,
+        0.7708126349007995
+      ],
+      "rotation_wxyz": [
+        0.9966539275288788,
+        -0.0005002411228420514,
+        0.00010458793074746323,
+        0.08173547309121322
+      ],
+      "yaw_degrees_local": 9.31794634532011,
+      "yaw_radians": 0.16365339114300206,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.455573295444841,
+        8.293338064272392,
+        0.8006962725184485
+      ],
+      "z_min": 0.7409045048051763,
+      "z_max": 0.8006717800404742
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        2.4107081589221795,
+        8.280943533858697,
+        0.8185842374763099
+      ],
+      "rotation_wxyz": [
+        0.6155686813693533,
+        -0.00036209019190638935,
+        -0.000360652892911601,
+        -0.7880830776874858
+      ],
+      "yaw_degrees_local": -104.07219209341844,
+      "yaw_radians": -1.8153777839131733,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4107081589221795,
+        8.280943533858697,
+        0.8962910713097424
+      ],
+      "z_min": 0.7410494861984641,
+      "z_max": 0.896463153865329
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.0373930857663023,
+        8.2565326522984,
+        0.7441609285415262
+      ],
+      "rotation_wxyz": [
+        0.17077408461244992,
+        -0.000149022192369758,
+        -0.0004888478315607256,
+        -0.9853100785260261
+      ],
+      "yaw_degrees_local": -160.39304980539822,
+      "yaw_radians": -2.7983623364461967,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0373930857663023,
+        8.2565326522984,
+        0.7472729317854018
+      ],
+      "z_min": 0.7411215050246855,
+      "z_max": 0.7473455115124367
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        5.007275348208982,
+        8.359304143975443,
+        0.9261402815586415
+      ],
+      "rotation_wxyz": [
+        0.7413036752283455,
+        0.0,
+        0.0,
+        -0.6711697706936359
+      ],
+      "yaw_degrees_local": -174.3148251665746,
+      "yaw_radians": -1.4715713074001033,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        5.007275348208982,
+        8.359304143975443,
+        0.9319574943252138
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318344544294764
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.234584438992375,
+        8.246167973623576,
+        0.841364089110761
+      ],
+      "rotation_wxyz": [
+        0.9999662208405682,
+        -0.0005065791355646986,
+        6.750848576908883e-05,
+        0.008203413802563632
+      ],
+      "yaw_degrees_local": 0.8813422243024718,
+      "yaw_radians": 0.01640694124928719,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.234584438992375,
+        8.246167973623576,
+        0.9415809691734109
+      ],
+      "z_min": 0.7411070836324825,
+      "z_max": 0.9415408437577825
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.688902462396059,
+        8.488700114625258,
+        0.7885100138446975
+      ],
+      "rotation_wxyz": [
+        0.8437626240672412,
+        -0.0003938842213506699,
+        0.00032563021421742964,
+        0.5367162872946445
+      ],
+      "yaw_degrees_local": 64.8620607405789,
+      "yaw_radians": 1.1330810564612368,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.688902462396059,
+        8.488700114625258,
+        0.835908939272798
+      ],
+      "z_min": 0.7409302107323978,
+      "z_max": 0.8357280615885988
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        3.7100414519136837,
+        8.848967598521007,
+        0.7493426247282493
+      ],
+      "rotation_wxyz": [
+        0.5314916710451287,
+        -0.00021586598237721103,
+        0.0004632296340829614,
+        0.8470633638812629
+      ],
+      "yaw_degrees_local": 115.7286871149837,
+      "yaw_radians": 2.0208715575458287,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7100414519136837,
+        8.848967598521007,
+        0.7581758708317315
+      ],
+      "z_min": 0.74030871514845,
+      "z_max": 0.7579752073554145
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.733174222442169,
+        8.86303867273662,
+        0.7522187763093194
+      ],
+      "rotation_wxyz": [
+        0.9779530333806571,
+        -0.0005091647228982908,
+        -4.3944296515240405e-05,
+        -0.20882433603810485
+      ],
+      "yaw_degrees_local": -24.165642084586864,
+      "yaw_radians": -0.42074518416721174,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.733174222442169,
+        8.86303867273662,
+        0.7640900468558892
+      ],
+      "z_min": 0.7404182154298701,
+      "z_max": 0.7641607565230095
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.810174969377842,
+        8.243554956404962,
+        0.8709879845001983
+      ],
+      "rotation_wxyz": [
+        0.7391269907972711,
+        -0.00041749385708500476,
+        -0.0002947519220235862,
+        -0.67356590642279
+      ],
+      "yaw_degrees_local": -84.74449081802544,
+      "yaw_radians": -1.478045587738013,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.810174969377842,
+        8.243554956404962,
+        1.0011551340149674
+      ],
+      "z_min": 0.7410368213845622,
+      "z_max": 1.0013711204141005
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.5844120080890765,
+        8.534500579460348,
+        0.7656702870932193
+      ],
+      "rotation_wxyz": [
+        0.14978076396180282,
+        -1.3320322736816697e-05,
+        0.0005108839254101657,
+        0.9887191014475257
+      ],
+      "yaw_degrees_local": 162.7128438584519,
+      "yaw_radians": 2.8408996409861387,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5844120080890765,
+        8.534500579460348,
+        0.7906145286633446
+      ],
+      "z_min": 0.7406435834631893,
+      "z_max": 0.7905320666034399
+    }
+  ],
+  "variant_index": 150
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0151/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0151/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..aafe7d15e55dfc0c613a8f3171fe78fcaf75f842
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0151/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 468997505857190530
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0334097439, -8.02577834e-05, -0.000504716261, -0.999441608)
+            double3 xformOp:translate = (2.56191477683, 8.29135694506, 0.741019723038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99999907, -0.000507195567, 6.27094304e-05, -0.00126411793)
+            double3 xformOp:translate = (3.20802364387, 8.25696889457, 0.740972740783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99996927, -0.000507595956, 5.9381497e-05, -0.00782286547)
+            double3 xformOp:translate = (2.855565956, 8.86470729339, 0.805705357322)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.76062268, -0.000344597104, 0.000377402507, 0.649194021)
+            double3 xformOp:translate = (1.862553489, 8.73487305988, 0.745740723329)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.802789267, -0.000369333684, 0.000353231434, 0.596262637)
+            double3 xformOp:translate = (3.48492693362, 8.88550920737, 0.817667728797)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.385817746, -0.000137208715, 0.000492294205, 0.922574878)
+            double3 xformOp:translate = (2.42511579594, 8.28356404623, 0.787256988021)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.948690922, -0.000461064578, 0.000220452423, 0.316204481)
+            double3 xformOp:translate = (3.37121654642, 8.22921388604, 0.746670017783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.476250581, -0.000185809537, 0.00047608259, 0.879309458)
+            double3 xformOp:translate = (2.20116172195, 8.24304617486, 0.747772858931)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.821751954, -0.000380623529, 0.000341035988, 0.569845124)
+            double3 xformOp:translate = (3.56224014101, 8.42468735728, 0.748770529505)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.4308428, -0.000161318027, 0.000484929181, 0.90242685)
+            double3 xformOp:translate = (1.70372049426, 8.207846432, 0.819173001748)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.733821785, -0.000415169411, -0.000298017074, -0.679341834)
+            double3 xformOp:translate = (3.47751667613, 8.52049728734, 0.744991589547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.507640229, -0.000202851596, 0.00046907467, 0.861568997)
+            double3 xformOp:translate = (3.70732732414, 8.865199816, 0.745649321107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99526235, -0.000498554196, 0.000112354483, 0.0972244538)
+            double3 xformOp:translate = (3.48176317392, 8.69974653559, 0.752067712414)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.77319769, -0.000351926197, 0.000370577614, 0.634164862)
+            double3 xformOp:translate = (2.68054359058, 8.24052543371, 0.871007481581)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.535618524, -0.000325117694, -0.000394307369, -0.844459907)
+            double3 xformOp:translate = (3.57846547755, 8.83478108847, 0.740339769668)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.657989845, -0.000381381796, -0.000340187804, -0.753026628)
+            double3 xformOp:translate = (1.76151209729, 8.56690853984, 0.80614601225)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.630501403, 0, 0, 0.776188109)
+            double3 xformOp:translate = (4.86033242079, 8.10608051114, 0.967523083811)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.109074749, -0.000118286103, -0.000497180263, -0.994033419)
+            double3 xformOp:translate = (3.28494493779, 8.52082528522, 0.774765043737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.89147131, -0.00042337666, 0.000286237698, 0.453076862)
+            double3 xformOp:translate = (3.6641851295, 8.71128230055, 0.767053411804)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.104584176, 9.96681895e-06, 0.000510960349, 0.994515907)
+            double3 xformOp:translate = (3.66982188687, 8.37824447117, 0.774860889446)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0381684645, 4.39485356e-05, 0.000509164357, 0.999271188)
+            double3 xformOp:translate = (3.39508898657, 8.34813554971, 0.794766637379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.514423526, -0.000206547, 0.000467459253, 0.857536107)
+            double3 xformOp:translate = (1.99122375844, 8.43056491323, 0.746640647725)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.835690172, -0.000388999642, 0.000331449988, 0.549200942)
+            double3 xformOp:translate = (2.08151012924, 8.34280652413, 0.788608239987)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.911767515, -0.000436353382, 0.000266036731, 0.410706389)
+            double3 xformOp:translate = (1.86541447161, 8.42773934671, 0.746909905747)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999929627, -0.000507831128, 5.73355195e-05, -0.0118524488)
+            double3 xformOp:translate = (3.15730411681, 8.38957204408, 0.748838915616)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977908858, -0.000482670951, 0.000167954068, 0.209031108)
+            double3 xformOp:translate = (2.62242312682, 8.8427450311, 0.817820381799)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.969695665, -0.000476270626, 0.000185327028, 0.244315485)
+            double3 xformOp:translate = (3.2050700444, 8.87694615996, 0.857183954748)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.887540604, -0.000479273449, -0.00017741696, -0.460729221)
+            double3 xformOp:translate = (2.01464287812, 8.88441771092, 0.767086811151)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.772983175, 0, 0, 0.634426521)
+            double3 xformOp:translate = (4.95159210012, 8.50604505613, 0.926858452162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.825675123, -0.000382974095, 0.000338394236, 0.564145664)
+            double3 xformOp:translate = (1.85164621482, 8.28311072399, 0.817267647703)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0151/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0151/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..30348f41a7b344bf15eca2aad7e008fd741b3681
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0151/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 468997505857190530,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 2,
+    "book": 1,
+    "small object": 6,
+    "electronics": 7,
+    "paper_goods": 2,
+    "decorative_object": 1,
+    "office_supplies": 2,
+    "small prop": 1,
+    "office_supply": 4,
+    "small_electronics": 1,
+    "paper goods": 1,
+    "clock": 2
+  },
+  "failed_sampling_attempt_count": 124,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.5619147768259993,
+        8.291356945057391,
+        0.741019723037866
+      ],
+      "rotation_wxyz": [
+        0.03340974387104028,
+        -8.025778343744282e-05,
+        -0.000504716261317209,
+        -0.9994416080165242
+      ],
+      "yaw_degrees_local": -176.22952269328138,
+      "yaw_radians": -3.0747608175102323,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5619147768259993,
+        8.291356945057391,
+        0.763516734751649
+      ],
+      "z_min": 0.7410197260328005,
+      "z_max": 0.7860137494603666
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.208023643866368,
+        8.25696889457062,
+        0.7409727407827581
+      ],
+      "rotation_wxyz": [
+        0.9999990704125907,
+        -0.0005071955673891602,
+        6.270943040006388e-05,
+        -0.0012641179289801336
+      ],
+      "yaw_degrees_local": -0.20356772103588128,
+      "yaw_radians": -0.0025282998327223172,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.208023643866368,
+        8.25696889457062,
+        0.8909727467432226
+      ],
+      "z_min": 0.7409727407827581,
+      "z_max": 1.040972752703687
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        2.8555659559970423,
+        8.864707293387664,
+        0.8057053573220605
+      ],
+      "rotation_wxyz": [
+        0.9999692703258345,
+        -0.0005075959555122997,
+        5.938149701605786e-05,
+        -0.007822865472582586
+      ],
+      "yaw_degrees_local": -0.9551540303555441,
+      "yaw_radians": -0.015645948872363022,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8555659559970423,
+        8.864707293387664,
+        0.871061081683702
+      ],
+      "z_min": 0.740401043839558,
+      "z_max": 0.871112492562841
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        1.8625534890023208,
+        8.734873059876369,
+        0.7457407233285201
+      ],
+      "rotation_wxyz": [
+        0.760622680160457,
+        -0.00034459710359776587,
+        0.00037740250718873506,
+        0.649194021264604
+      ],
+      "yaw_degrees_local": 80.90302647435277,
+      "yaw_radians": 1.4130488594576465,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8625534890023208,
+        8.734873059876369,
+        0.7508703260245981
+      ],
+      "z_min": 0.7406585102314551,
+      "z_max": 0.750917715623611
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.4849269336220114,
+        8.885509207365534,
+        0.8176677287967565
+      ],
+      "rotation_wxyz": [
+        0.8027892666550301,
+        -0.00036933368440558267,
+        0.000353231433770708,
+        0.5962626369006052
+      ],
+      "yaw_degrees_local": 73.14669080555649,
+      "yaw_radians": 1.2776751950871235,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4849269336220114,
+        8.885509207365534,
+        0.895049483930096
+      ],
+      "z_min": 0.7403002114293732,
+      "z_max": 0.8950637216960521
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.4251157959414975,
+        8.283564046233154,
+        0.7872569880212221
+      ],
+      "rotation_wxyz": [
+        0.38581774601977675,
+        -0.0001372087151111202,
+        0.0004922942054685065,
+        0.9225748780865448
+      ],
+      "yaw_degrees_local": 134.55225068407475,
+      "yaw_radians": 2.349404734529743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4251157959414975,
+        8.283564046233154,
+        0.8334495879273046
+      ],
+      "z_min": 0.7410449865649913,
+      "z_max": 0.8334301863771562
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.3712165464215285,
+        8.229213886041139,
+        0.7466700177833427
+      ],
+      "rotation_wxyz": [
+        0.9486909218859643,
+        -0.00046106457827369305,
+        0.00022045242321556418,
+        0.31620448059972744
+      ],
+      "yaw_degrees_local": 36.80837957777359,
+      "yaw_radians": 0.6434518450605085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3712165464215285,
+        8.229213886041139,
+        0.752501068808129
+      ],
+      "z_min": 0.7409802170540181,
+      "z_max": 0.7526423191035905
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.201161721953279,
+        8.24304617485882,
+        0.7477728589309469
+      ],
+      "rotation_wxyz": [
+        0.47625058098103207,
+        -0.00018580953657196735,
+        0.00047608258985098724,
+        0.8793094580040712
+      ],
+      "yaw_degrees_local": 123.05966847135579,
+      "yaw_radians": 2.1488213389406927,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.201161721953279,
+        8.24304617485882,
+        0.7543856632144347
+      ],
+      "z_min": 0.7411144356647906,
+      "z_max": 0.7543400442317661
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.5622401410081164,
+        8.424687357280204,
+        0.7487705295051923
+      ],
+      "rotation_wxyz": [
+        0.821751953787551,
+        -0.0003806235294325739,
+        0.0003410359879581672,
+        0.5698451239297628
+      ],
+      "yaw_degrees_local": 69.42015291980496,
+      "yaw_radians": 1.2126348080460738,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5622401410081164,
+        8.424687357280204,
+        0.7565998686900103
+      ],
+      "z_min": 0.7407577598796296,
+      "z_max": 0.7564164382492655
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.7037204942561432,
+        8.207846431999688,
+        0.8191730017482655
+      ],
+      "rotation_wxyz": [
+        0.43084280033244915,
+        -0.0001613180270948462,
+        0.0004849291807826573,
+        0.9024268503440472
+      ],
+      "yaw_degrees_local": 128.89916591001355,
+      "yaw_radians": 2.2507397993203537,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7037204942561432,
+        8.207846431999688,
+        0.8971665262187637
+      ],
+      "z_min": 0.7412131999825057,
+      "z_max": 0.8972002489235021
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.477516676129983,
+        8.520497287342389,
+        0.7449915895472279
+      ],
+      "rotation_wxyz": [
+        0.7338217849409336,
+        -0.0004151694106656938,
+        -0.00029801707449039413,
+        -0.6793418335170345
+      ],
+      "yaw_degrees_local": -85.64319022831562,
+      "yaw_radians": -1.4937308589196805,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.477516676129983,
+        8.520497287342389,
+        0.7491281909073549
+      ],
+      "z_min": 0.7406713189947605,
+      "z_max": 0.7489445217150146
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        3.707327324137488,
+        8.865199815995908,
+        0.745649321106674
+      ],
+      "rotation_wxyz": [
+        0.5076402292525237,
+        -0.00020285159592528816,
+        0.0004690746702507781,
+        0.8615689969263224
+      ],
+      "yaw_degrees_local": 118.9277326802137,
+      "yaw_radians": 2.0767054460196914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.707327324137488,
+        8.865199815995908,
+        0.750964442606755
+      ],
+      "z_min": 0.7402925938733944,
+      "z_max": 0.7509228368735562
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.4817631739223436,
+        8.699746535585875,
+        0.7520677124143715
+      ],
+      "rotation_wxyz": [
+        0.9952623495349332,
+        -0.0004985541960877459,
+        0.00011235448279269509,
+        0.09722445380864082
+      ],
+      "yaw_degrees_local": 11.100019916057988,
+      "yaw_radians": 0.19475642912234525,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4817631739223436,
+        8.699746535585875,
+        0.763580466837822
+      ],
+      "z_min": 0.7404889843949204,
+      "z_max": 0.7635144932418212
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.6805435905752173,
+        8.24052543371179,
+        0.8710074815805312
+      ],
+      "rotation_wxyz": [
+        0.7731976895108517,
+        -0.0003519261969214022,
+        0.0003705776142196815,
+        0.634164861652918
+      ],
+      "yaw_degrees_local": 78.65744446113814,
+      "yaw_radians": 1.3738560393511403,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6805435905752173,
+        8.24052543371179,
+        1.0011746310953002
+      ],
+      "z_min": 0.7410563184648951,
+      "z_max": 1.0013906174944334
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5784654775484857,
+        8.83478108846618,
+        0.7403397696678521
+      ],
+      "rotation_wxyz": [
+        0.5356185244668508,
+        -0.0003251176944443338,
+        -0.0003943073686852852,
+        -0.8444599073183625
+      ],
+      "yaw_degrees_local": -115.28696503512268,
+      "yaw_radians": -2.0111125886831376,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5784654775484857,
+        8.83478108846618,
+        0.7903398635451676
+      ],
+      "z_min": 0.7403397696678521,
+      "z_max": 0.8403399574224831
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        1.7615120972885396,
+        8.56690853983897,
+        0.8061460122499864
+      ],
+      "rotation_wxyz": [
+        0.6579898447794476,
+        -0.0003813817956287919,
+        -0.0003401878043129574,
+        -0.7530266283388009
+      ],
+      "yaw_degrees_local": -97.7652042989153,
+      "yaw_radians": -1.7053000241200085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7615120972885396,
+        8.56690853983897,
+        0.8715017366116279
+      ],
+      "z_min": 0.7408416987674838,
+      "z_max": 0.8715531474907668
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        4.8603324207940215,
+        8.10608051113549,
+        0.9675230838110815
+      ],
+      "rotation_wxyz": [
+        0.6305014029737037,
+        0.0,
+        0.0,
+        0.7761881091901572
+      ],
+      "yaw_degrees_local": 11.825750333988964,
+      "yaw_radians": 1.7771946066418232,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8603324207940215,
+        8.10608051113549,
+        1.0148892104723366
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149322822188418
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.284944937794582,
+        8.520825285220756,
+        0.7747650437372708
+      ],
+      "rotation_wxyz": [
+        0.10907474886153923,
+        -0.00011828610307922042,
+        -0.0004971802631427002,
+        -0.9940334189457496
+      ],
+      "yaw_degrees_local": -167.53474546762183,
+      "yaw_radians": -2.9230083951678143,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.284944937794582,
+        8.520825285220756,
+        0.8087635999079497
+      ],
+      "z_min": 0.740695400923645,
+      "z_max": 0.8086925132650027
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.6641851295014405,
+        8.711282300553147,
+        0.7670534118035147
+      ],
+      "rotation_wxyz": [
+        0.8914713095177749,
+        -0.00042337666004060013,
+        0.0002862376983787753,
+        0.45307686227266963
+      ],
+      "yaw_degrees_local": 53.82382574061441,
+      "yaw_radians": 0.9404274438372009,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6641851295014405,
+        8.711282300553147,
+        0.7936278964595888
+      ],
+      "z_min": 0.740454179230849,
+      "z_max": 0.793603148542997
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.6698218868694843,
+        8.378244471166619,
+        0.7748608894460909
+      ],
+      "rotation_wxyz": [
+        0.10458417602230698,
+        9.966818947632757e-06,
+        0.0005109603494992324,
+        0.994515906834033
+      ],
+      "yaw_degrees_local": 167.9348686107192,
+      "yaw_radians": 2.9320411206096595,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6698218868694843,
+        8.378244471166619,
+        0.8088594456167697
+      ],
+      "z_min": 0.7407912466324651,
+      "z_max": 0.8087883589738227
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.395088986571706,
+        8.348135549709708,
+        0.7947666373793668
+      ],
+      "rotation_wxyz": [
+        0.038168464534683755,
+        4.3948535634146514e-05,
+        0.0005091643570164027,
+        0.9992711879841472
+      ],
+      "yaw_degrees_local": 175.56644247785584,
+      "yaw_radians": 3.065237142378011,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.395088986571706,
+        8.348135549709708,
+        0.848686839672765
+      ],
+      "z_min": 0.7408566033995405,
+      "z_max": 0.848697007986337
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        1.9912237584445487,
+        8.43056491322995,
+        0.7466406477250231
+      ],
+      "rotation_wxyz": [
+        0.514423525653736,
+        -0.00020654699952580397,
+        0.0004674592530127093,
+        0.857536107154774
+      ],
+      "yaw_degrees_local": 118.02341976296032,
+      "yaw_radians": 2.0609222055034677,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9912237584445487,
+        8.43056491322995,
+        0.7524716987498093
+      ],
+      "z_min": 0.7409508469956985,
+      "z_max": 0.7526129490452709
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.0815101292380778,
+        8.342806524127662,
+        0.7886082399873803
+      ],
+      "rotation_wxyz": [
+        0.8356901720719027,
+        -0.0003889996424500957,
+        0.00033144998780209705,
+        0.549200942390504
+      ],
+      "yaw_degrees_local": 66.56572248419315,
+      "yaw_radians": 1.1628155760699415,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0815101292380778,
+        8.342806524127662,
+        0.8360071654154807
+      ],
+      "z_min": 0.7410284368750806,
+      "z_max": 0.8358262877312815
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.8654144716050323,
+        8.427739346712714,
+        0.7469099057469167
+      ],
+      "rotation_wxyz": [
+        0.9117675147755904,
+        -0.0004363533821062122,
+        0.0002660367308564413,
+        0.41070638882311966
+      ],
+      "yaw_degrees_local": 48.43972985931373,
+      "yaw_radians": 0.8464572215018743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8654144716050323,
+        8.427739346712714,
+        0.7527271185134891
+      ],
+      "z_min": 0.740969653084607,
+      "z_max": 0.7526040786177517
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        3.157304116806843,
+        8.389572044082897,
+        0.7488389156162258
+      ],
+      "rotation_wxyz": [
+        0.9999296266621672,
+        -0.0005078311278747834,
+        5.7335519547118956e-05,
+        -0.01185244883739169
+      ],
+      "yaw_degrees_local": -1.4169329890995357,
+      "yaw_radians": -0.023705508000726076,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.157304116806843,
+        8.389572044082897,
+        0.75693434098366
+      ],
+      "z_min": 0.7408446807984744,
+      "z_max": 0.7570355315333427
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.6224231268204687,
+        8.842745031103606,
+        0.8178203817990455
+      ],
+      "rotation_wxyz": [
+        0.9779088581817608,
+        -0.0004826709514285919,
+        0.0001679540677903649,
+        0.2090311075171083
+      ],
+      "yaw_degrees_local": 24.072450222711126,
+      "yaw_radians": 0.4211679738530142,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6224231268204687,
+        8.842745031103606,
+        0.8952021369323849
+      ],
+      "z_min": 0.7404528644316621,
+      "z_max": 0.895216374698341
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.2050700443978943,
+        8.87694615996343,
+        0.857183954747893
+      ],
+      "rotation_wxyz": [
+        0.9696956649323745,
+        -0.0004762706255811299,
+        0.00018532702838191682,
+        0.244315485042484
+      ],
+      "yaw_degrees_local": 28.22406263440331,
+      "yaw_radians": 0.4936272647183748,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2050700443978943,
+        8.87694615996343,
+        0.9740427734238655
+      ],
+      "z_min": 0.7403443751476284,
+      "z_max": 0.9740620124995732
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.0146428781187202,
+        8.884417710924387,
+        0.7670868111506972
+      ],
+      "rotation_wxyz": [
+        0.887540604133456,
+        -0.000479273448781067,
+        -0.00017741695954393585,
+        -0.46072922073014194
+      ],
+      "yaw_degrees_local": -54.92706378577826,
+      "yaw_radians": -0.9576331614138834,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0146428781187202,
+        8.884417710924387,
+        0.7936612958067712
+      ],
+      "z_min": 0.7404875785780315,
+      "z_max": 0.7936365478901795
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        4.951592100122781,
+        8.506045056133626,
+        0.9268584521624881
+      ],
+      "rotation_wxyz": [
+        0.7729831751807567,
+        0.0,
+        0.0,
+        0.6344265212674166
+      ],
+      "yaw_degrees_local": -11.245072823758477,
+      "yaw_radians": 1.3745327813937753,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.951592100122781,
+        8.506045056133626,
+        0.9334712564459758
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9334256374633073
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.8516462148191333,
+        8.283110723994312,
+        0.8172676477028106
+      ],
+      "rotation_wxyz": [
+        0.8256751230578815,
+        -0.0003829740950664351,
+        0.00033839423569020466,
+        0.5641456637992853
+      ],
+      "yaw_degrees_local": 68.62727118867079,
+      "yaw_radians": 1.1987964048526796,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8516462148191333,
+        8.283110723994312,
+        0.8934535862248967
+      ],
+      "z_min": 0.7411181212156083,
+      "z_max": 0.8934899982597806
+    }
+  ],
+  "variant_index": 151
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0153/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0153/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..11e60ea36a47741d8c3fa1a3632ed8f529adc157
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0153/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7958443372648008211
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.372936281, -0.000247902172, -0.00044690528, -0.927856815)
+            double3 xformOp:translate = (3.4362902994, 8.48614982136, 0.740711376471)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.314203501, -0.000219479797, -0.000461528369, -0.949355518)
+            double3 xformOp:translate = (3.20708083655, 8.26251881928, 0.740967231325)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.230301433, -0.000178437162, -0.000478894556, -0.973119206)
+            double3 xformOp:translate = (1.94325959144, 8.3588145941, 0.767628939087)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.653066968, -0.000283205314, 0.000425411056, 0.75729999)
+            double3 xformOp:translate = (1.8901759376, 8.20822770633, 0.81733871471)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997869249, -0.000510168623, 3.01295905e-05, -0.0652433995)
+            double3 xformOp:translate = (2.20728305735, 8.28422350243, 0.788168166113)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.464282106, -0.000291553631, -0.000419733602, -0.885687228)
+            double3 xformOp:translate = (2.63927627495, 8.24563677046, 0.751077992801)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.017115791, 5.46615647e-05, 0.000508125899, 0.999853384)
+            double3 xformOp:translate = (3.45376418758, 8.84936989684, 0.743380198127)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.716818637, -0.000319338402, 0.000399002257, 0.697259478)
+            double3 xformOp:translate = (2.7711858593, 8.30375640608, 0.811152344015)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.230608326, -5.53021353e-05, 0.000508056582, 0.973046525)
+            double3 xformOp:translate = (1.99183839135, 8.72593712706, 0.771243206859)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956181098, -0.00046634721, 0.00020904568, 0.292775421)
+            double3 xformOp:translate = (3.4818475997, 8.38941701349, 0.806108061432)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.704138407, -0.000402062671, -0.000315476504, -0.710062562)
+            double3 xformOp:translate = (2.18092479034, 8.86178377148, 0.804737958943)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.2907008, -8.68043352e-05, 0.000503631635, 0.956813871)
+            double3 xformOp:translate = (3.33901351137, 8.25068922944, 0.793640464667)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.70199669, 0, 0, 0.712180207)
+            double3 xformOp:translate = (4.87053456913, 8.13736427602, 0.988253364019)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.161923528, -1.95994869e-05, 0.00051068158, 0.986803177)
+            double3 xformOp:translate = (1.79967603888, 8.42863301987, 0.841234130571)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.975686951, -0.000508670848, -4.93334072e-05, -0.219168229)
+            double3 xformOp:translate = (1.97988286354, 8.47212736925, 0.808963497618)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.878002403, -0.000475572143, -0.000187112141, -0.478655951)
+            double3 xformOp:translate = (3.58014528889, 8.74480447049, 0.801105336511)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.624984305, -0.000366393301, -0.000356280459, -0.780637149)
+            double3 xformOp:translate = (1.73804560905, 8.69360805992, 0.78803921479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.233805511, -0.000180161178, -0.000478248645, -0.972283252)
+            double3 xformOp:translate = (3.69123567586, 8.48492887623, 0.805984660523)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.483664145, -0.000300721592, -0.000413214642, -0.875253525)
+            double3 xformOp:translate = (2.95828348464, 8.27836111985, 0.787194712053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506522064, -0.000202242881, 0.000469337441, 0.862226848)
+            double3 xformOp:translate = (1.7640600051, 8.2908058558, 0.748102381304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.216365412, -0.000171572269, -0.00048139669, -0.976312321)
+            double3 xformOp:translate = (3.72837425164, 8.803563135, 0.766951684778)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.709870566, 0, 0, -0.704332151)
+            double3 xformOp:translate = (4.85005790168, 8.58764419331, 1.00138971739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.138293194, -7.38886424e-06, 0.00051100413, 0.990391201)
+            double3 xformOp:translate = (2.78825927877, 8.85430866997, 0.816569650442)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988954265, -0.000492124663, 0.000137815572, 0.148220108)
+            double3 xformOp:translate = (3.19621672193, 8.19122015415, 0.748458908789)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.898739196, -0.000483543142, -0.000165426256, -0.43848329)
+            double3 xformOp:translate = (2.4719847404, 8.25121751362, 0.749066069966)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.949120462, -0.000461364232, 0.000219824616, 0.314912825)
+            double3 xformOp:translate = (3.63815409353, 8.31044188895, 0.835737554602)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.642062053, -0.000374167765, -0.000348106736, -0.766652502)
+            double3 xformOp:translate = (3.23808659792, 8.88455379133, 0.752139799838)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94129128, -0.000455956993, 0.000230831186, 0.337595119)
+            double3 xformOp:translate = (3.6700363134, 8.60534795693, 0.779432036278)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.611203437, 0, 0, 0.791473536)
+            double3 xformOp:translate = (4.84906907681, 8.73216652131, 0.980874519698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.142967719, -9.80145417e-06, 0.000510963548, 0.98972722)
+            double3 xformOp:translate = (1.83895970333, 8.57904877065, 0.746183004492)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0153/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0153/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9b8fa2c0c891539909708d2aeff83925c7784e
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0153/placement.json
@@ -0,0 +1,1540 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7958443372648008211,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 6,
+    "drinkware": 7,
+    "clock": 5,
+    "small object": 6,
+    "drinkware/container": 1,
+    "decorative_object": 1,
+    "office_supply": 3,
+    "book": 1
+  },
+  "failed_sampling_attempt_count": 239,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.436290299395992,
+        8.486149821364604,
+        0.7407113764713533
+      ],
+      "rotation_wxyz": [
+        0.3729362805274493,
+        -0.0002479021721989307,
+        -0.00044690527996362313,
+        -0.9278568151856922
+      ],
+      "yaw_degrees_local": -136.26506504645943,
+      "yaw_radians": -2.3772496060173136,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.436290299395992,
+        8.486149821364604,
+        0.9182113711069353
+      ],
+      "z_min": 0.7407113764713533,
+      "z_max": 1.0957113657425173
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.2070808365510253,
+        8.262518819280869,
+        0.7409672313252781
+      ],
+      "rotation_wxyz": [
+        0.31420350100404504,
+        -0.0002194797970335967,
+        -0.00046152836850447645,
+        -0.9493555175891617
+      ],
+      "yaw_degrees_local": -143.4332323045634,
+      "yaw_radians": -2.5023577313009095,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2070808365510253,
+        8.262518819280869,
+        0.7909673252025936
+      ],
+      "z_min": 0.7409672313252781,
+      "z_max": 0.8409674190799091
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.9432595914383122,
+        8.358814594096502,
+        0.7676289390867148
+      ],
+      "rotation_wxyz": [
+        0.23030143289310864,
+        -0.00017843716210486294,
+        -0.00047889455563858267,
+        -0.9731192058671769
+      ],
+      "yaw_degrees_local": -153.42906886758638,
+      "yaw_radians": -2.6768179711869857,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9432595914383122,
+        8.358814594096502,
+        0.7942034237427888
+      ],
+      "z_min": 0.7410297065140491,
+      "z_max": 0.7941786758261971
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.8901759375992255,
+        8.208227706333739,
+        0.8173387147098153
+      ],
+      "rotation_wxyz": [
+        0.653066967630539,
+        -0.0002832053137067914,
+        0.00042541105595476767,
+        0.7572999898389254
+      ],
+      "yaw_degrees_local": 98.3947982621338,
+      "yaw_radians": 1.718338021728164,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8901759375992255,
+        8.208227706333739,
+        0.8935246532319014
+      ],
+      "z_min": 0.741189188222613,
+      "z_max": 0.8935610652667854
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        2.2072830573506916,
+        8.28422350243168,
+        0.7881681661130476
+      ],
+      "rotation_wxyz": [
+        0.9978692487680982,
+        -0.0005101686231222988,
+        3.012959046868133e-05,
+        -0.06524339953723525
+      ],
+      "yaw_degrees_local": -7.5403685456356015,
+      "yaw_radians": -0.13057956452289074,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2072830573506916,
+        8.28422350243168,
+        0.8352739167996801
+      ],
+      "z_min": 0.741071917837233,
+      "z_max": 0.835283419210498
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.639276274947288,
+        8.24563677046061,
+        0.7510779928009769
+      ],
+      "rotation_wxyz": [
+        0.4642821058251253,
+        -0.0002915536314400158,
+        -0.0004197336015074943,
+        -0.8856872275418514
+      ],
+      "yaw_degrees_local": -124.73116045094508,
+      "yaw_radians": -2.1759449537973636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.639276274947288,
+        8.24563677046061,
+        0.7611153437817956
+      ],
+      "z_min": 0.7410563003514747,
+      "z_max": 0.7611310023131121
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.4537641875790537,
+        8.849369896842333,
+        0.7433801981266375
+      ],
+      "rotation_wxyz": [
+        0.017115790959857928,
+        5.4661564728641675e-05,
+        0.000508125899341619,
+        0.9998533835118039
+      ],
+      "yaw_degrees_local": 177.97986838008728,
+      "yaw_radians": 3.1073593488374454,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4537641875790537,
+        8.849369896842333,
+        0.7464922013705131
+      ],
+      "z_min": 0.7403407746097969,
+      "z_max": 0.746564781097548
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.771185859295834,
+        8.303756406077206,
+        0.8111523440149221
+      ],
+      "rotation_wxyz": [
+        0.7168186373008947,
+        -0.0003193384016831637,
+        0.00039900225745070043,
+        0.6972594782706596
+      ],
+      "yaw_degrees_local": 88.35639014386123,
+      "yaw_radians": 1.5431346634641165,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.771185859295834,
+        8.303756406077206,
+        0.881328710246841
+      ],
+      "z_min": 0.740980671874702,
+      "z_max": 0.8813334043385397
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        1.991838391354269,
+        8.725937127055504,
+        0.7712432068587418
+      ],
+      "rotation_wxyz": [
+        0.23060832582917995,
+        -5.5302135332729323e-05,
+        0.000508056581561496,
+        0.9730465245189701
+      ],
+      "yaw_degrees_local": 153.27550790064282,
+      "yaw_radians": 2.676187130339302,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.991838391354269,
+        8.725937127055504,
+        0.8018456083641345
+      ],
+      "z_min": 0.7406512061253663,
+      "z_max": 0.8018560091361518
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.4818475997009193,
+        8.389417013493484,
+        0.80610806143157
+      ],
+      "rotation_wxyz": [
+        0.9561810977600893,
+        -0.00046634720964145425,
+        0.0002090456799360898,
+        0.2927754209398297
+      ],
+      "yaw_degrees_local": 33.98967357077868,
+      "yaw_radians": 0.5942561467614665,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4818475997009193,
+        8.389417013493484,
+        0.8714637857932115
+      ],
+      "z_min": 0.7408037479490674,
+      "z_max": 0.8715151966723504
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.180924790338672,
+        8.861783771482129,
+        0.8047379589428513
+      ],
+      "rotation_wxyz": [
+        0.7041384073943252,
+        -0.00040206267113220625,
+        -0.0003154765042318492,
+        -0.7100625620692639
+      ],
+      "yaw_degrees_local": -90.5387370660558,
+      "yaw_radians": -1.5791743122772441,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.180924790338672,
+        8.861783771482129,
+        0.8689269130305718
+      ],
+      "z_min": 0.7404894862095848,
+      "z_max": 0.8688673943850258
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.3390135113681763,
+        8.250689229441752,
+        0.7936404646673971
+      ],
+      "rotation_wxyz": [
+        0.29070079982590624,
+        -8.680433516982002e-05,
+        0.0005036316348642508,
+        0.9568138710327951
+      ],
+      "yaw_degrees_local": 146.14145195752695,
+      "yaw_radians": 2.5516744099917177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3390135113681763,
+        8.250689229441752,
+        0.8461894935266152
+      ],
+      "z_min": 0.7409625407750545,
+      "z_max": 0.8460605984934908
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        4.8705345691327615,
+        8.137364276018053,
+        0.9882533640186413
+      ],
+      "rotation_wxyz": [
+        -0.7019966900045141,
+        0.0,
+        0.0,
+        0.7121802069860593
+      ],
+      "yaw_degrees_local": 179.17483808435338,
+      "yaw_radians": -1.585198119084994,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8705345691327615,
+        8.137364276018053,
+        1.056308707572227
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.0563107160035035
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.7996760388832924,
+        8.428633019871858,
+        0.8412341305711818
+      ],
+      "rotation_wxyz": [
+        0.1619235277527371,
+        -1.959948686845549e-05,
+        0.0005106815801992528,
+        0.9868031769204499
+      ],
+      "yaw_degrees_local": 161.30416249266676,
+      "yaw_radians": 2.816313524979431,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7996760388832924,
+        8.428633019871858,
+        0.9414510106338319
+      ],
+      "z_min": 0.7409771250929033,
+      "z_max": 0.9414108852182033
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.9798828635442134,
+        8.47212736924816,
+        0.8089634976180439
+      ],
+      "rotation_wxyz": [
+        0.9756869509577987,
+        -0.0005086708475786902,
+        -4.9333407179005584e-05,
+        -0.2191682288810545
+      ],
+      "yaw_degrees_local": -25.37908134736921,
+      "yaw_radians": -0.4419236855349362,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9798828635442134,
+        8.47212736924816,
+        0.8770188411716298
+      ],
+      "z_min": 0.7409101624957344,
+      "z_max": 0.877020849602906
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.5801452888906695,
+        8.744804470488496,
+        0.801105336511041
+      ],
+      "rotation_wxyz": [
+        0.8780024029747595,
+        -0.00047557214287266813,
+        -0.00018711214061041352,
+        -0.47865595075245015
+      ],
+      "yaw_degrees_local": -57.25403213708246,
+      "yaw_radians": -0.9982464236204001,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5801452888906695,
+        8.744804470488496,
+        0.8617322029663006
+      ],
+      "z_min": 0.7404308457089587,
+      "z_max": 0.8616845786194779
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        1.73804560905063,
+        8.693608059917196,
+        0.7880392147897756
+      ],
+      "rotation_wxyz": [
+        0.6249843045286156,
+        -0.0003663933009982575,
+        -0.0003562804586613093,
+        -0.7806371486888557
+      ],
+      "yaw_degrees_local": -102.69662752471463,
+      "yaw_radians": -1.7913696408688298,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.73804560905063,
+        8.693608059917196,
+        0.8354053414510305
+      ],
+      "z_min": 0.7407161598750258,
+      "z_max": 0.8354484131975358
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.6912356758565656,
+        8.484928876225313,
+        0.8059846605232154
+      ],
+      "rotation_wxyz": [
+        0.23380551079616138,
+        -0.0001801611777836414,
+        -0.0004782486448072004,
+        -0.9722832519083778
+      ],
+      "yaw_degrees_local": -153.0162624438955,
+      "yaw_radians": -2.6696131413352915,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6912356758565656,
+        8.484928876225313,
+        0.8713403848848569
+      ],
+      "z_min": 0.7406803470407128,
+      "z_max": 0.8713917957639958
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.958283484635537,
+        8.278361119850745,
+        0.7871947120530484
+      ],
+      "rotation_wxyz": [
+        0.48366414525921136,
+        -0.00030072159218703817,
+        -0.0004132146418422335,
+        -0.8752535252204703
+      ],
+      "yaw_degrees_local": -122.2087264284923,
+      "yaw_radians": -2.131920160972043,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.958283484635537,
+        8.278361119850745,
+        0.8333873119591308
+      ],
+      "z_min": 0.7409827105968175,
+      "z_max": 0.8333679104089824
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.7640600050984916,
+        8.290805855800448,
+        0.7481023813042447
+      ],
+      "rotation_wxyz": [
+        0.5065220643749284,
+        -0.00020224288146165727,
+        0.0004693374405887503,
+        0.8622268478315582
+      ],
+      "yaw_degrees_local": 119.07639557320118,
+      "yaw_radians": 2.0793001033885132,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7640600050984916,
+        8.290805855800448,
+        0.7550856621130853
+      ],
+      "z_min": 0.7411213777053629,
+      "z_max": 0.7550879393230441
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.7283742516449303,
+        8.803563135003861,
+        0.7669516847781654
+      ],
+      "rotation_wxyz": [
+        0.21636541152656327,
+        -0.00017157226886287407,
+        -0.0004813966896412544,
+        -0.976312320681822
+      ],
+      "yaw_degrees_local": -155.0674164475449,
+      "yaw_radians": -2.705412524642114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7283742516449303,
+        8.803563135003861,
+        0.7935261694342395
+      ],
+      "z_min": 0.7403524522054997,
+      "z_max": 0.7935014215176477
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        4.8500579016791505,
+        8.587644193307273,
+        1.0013897173902184
+      ],
+      "rotation_wxyz": [
+        0.7098705660993181,
+        0.0,
+        0.0,
+        -0.7043321513219696
+      ],
+      "yaw_degrees_local": -179.5512295857893,
+      "yaw_radians": -1.5629638054813813,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8500579016791505,
+        8.587644193307273,
+        1.0826335706835835
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0826877354830617
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.7882592787702714,
+        8.854308669971106,
+        0.8165696504417503
+      ],
+      "rotation_wxyz": [
+        0.1382931939035417,
+        -7.388864235848404e-06,
+        0.0005110041300475142,
+        0.9903912011625212
+      ],
+      "yaw_degrees_local": 164.0431019825271,
+      "yaw_radians": 2.864117013678718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7882592787702714,
+        8.854308669971106,
+        0.8927555889638364
+      ],
+      "z_min": 0.740420123954548,
+      "z_max": 0.8927920009987204
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.196216721928094,
+        8.191220154152962,
+        0.7484589087889189
+      ],
+      "rotation_wxyz": [
+        0.9889542651409928,
+        -0.0004921246634498797,
+        0.00013781557192369518,
+        0.1482201075415307
+      ],
+      "yaw_degrees_local": 16.98887832410594,
+      "yaw_radians": 0.29753635798011135,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.196216721928094,
+        8.191220154152962,
+        0.7559988114320183
+      ],
+      "z_min": 0.741040925096007,
+      "z_max": 0.756120730382206
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        2.471984740395182,
+        8.251217513622354,
+        0.7490660699657391
+      ],
+      "rotation_wxyz": [
+        0.8987391964203924,
+        -0.0004835431418132324,
+        -0.00016542625621617876,
+        -0.438483290032598
+      ],
+      "yaw_degrees_local": -52.07301583474397,
+      "yaw_radians": -0.9078206264599592,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.471984740395182,
+        8.251217513622354,
+        0.7571614953331732
+      ],
+      "z_min": 0.7410718351479877,
+      "z_max": 0.757262685882856
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.638154093528337,
+        8.310441888952969,
+        0.8357375546018627
+      ],
+      "rotation_wxyz": [
+        0.9491204619240575,
+        -0.00046136423194241137,
+        0.0002198246158293048,
+        0.3149128253616349
+      ],
+      "yaw_degrees_local": 36.65239699081488,
+      "yaw_radians": 0.640729435396406,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.638154093528337,
+        8.310441888952969,
+        0.9306344006660663
+      ],
+      "z_min": 0.740864058299448,
+      "z_max": 0.9306577504278553
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.238086597920991,
+        8.88455379132551,
+        0.7521397998375723
+      ],
+      "rotation_wxyz": [
+        0.642062053332796,
+        -0.0003741677649291051,
+        -0.0003481067364017401,
+        -0.7666525017830816
+      ],
+      "yaw_degrees_local": -100.16718980814038,
+      "yaw_radians": -1.7472226016908592,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.238086597920991,
+        8.88455379132551,
+        0.763827124790239
+      ],
+      "z_min": 0.7403324211441732,
+      "z_max": 0.7637070710495065
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.6700363134007477,
+        8.605347956933796,
+        0.7794320362777597
+      ],
+      "rotation_wxyz": [
+        0.9412912802155922,
+        -0.0004559569933179525,
+        0.00023083118611826528,
+        0.3375951193519769
+      ],
+      "yaw_degrees_local": 39.40214155811745,
+      "yaw_radians": 0.6887215318654315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6700363134007477,
+        8.605347956933796,
+        0.8183794678127664
+      ],
+      "z_min": 0.7405608863096387,
+      "z_max": 0.8184557493796522
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        4.849069076810077,
+        8.73216652131204,
+        0.9808745196984141
+      ],
+      "rotation_wxyz": [
+        -0.6112034374559016,
+        0.0,
+        0.0,
+        0.7914735359076069
+      ],
+      "yaw_degrees_local": 165.35314057056115,
+      "yaw_radians": -1.826432248915383,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.849069076810077,
+        8.73216652131204,
+        1.0415013861536737
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.041453761806851
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.8389597033319705,
+        8.57904877065312,
+        0.746183004492405
+      ],
+      "rotation_wxyz": [
+        0.14296771920432638,
+        -9.801454168892906e-06,
+        0.0005109635483441922,
+        0.9897272200387827
+      ],
+      "yaw_degrees_local": 163.50206348593628,
+      "yaw_radians": 2.85467411522171,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8389597033319705,
+        8.57904877065312,
+        0.7515184451874058
+      ],
+      "z_min": 0.740819541745595,
+      "z_max": 0.7514904231355966
+    }
+  ],
+  "variant_index": 153
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0154/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0154/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..c75678f89003109660cd8857b448ba5dea552d30
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0154/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5703996217638862811
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.289852504, -8.63578493e-05, 0.000503708386, 0.957071191)
+            double3 xformOp:translate = (3.41350324036, 8.87909990526, 0.740315720998)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995170486, -0.000498448325, 0.000112823239, 0.0981602866)
+            double3 xformOp:translate = (3.56025315761, 8.47917863499, 0.74070274064)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.774118169, -0.000352464189, 0.000370065956, 0.633040915)
+            double3 xformOp:translate = (1.91818118311, 8.7206216665, 0.788189741889)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998594104, -0.000503045093, 9.01412789e-05, 0.0530052333)
+            double3 xformOp:translate = (2.09151523603, 8.21812335936, 0.777809171912)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0282928872, 4.89774001e-05, 0.000508705249, 0.999599545)
+            double3 xformOp:translate = (3.71781703859, 8.76500383731, 0.74781087157)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.885480938, -0.000419604072, 0.00029174002, 0.464675422)
+            double3 xformOp:translate = (3.41726494582, 8.3776567306, 0.825233986983)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.169558123, -2.35523981e-05, 0.000510514545, 0.985520057)
+            double3 xformOp:translate = (1.78470893012, 8.67293644399, 0.753241587349)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.172234847, 0, 0, 0.985055916)
+            double3 xformOp:translate = (4.85347886378, 8.15584447838, 0.996349555384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.408999069, -0.000265219521, -0.000436850572, -0.912534657)
+            double3 xformOp:translate = (3.2303875606, 8.3547774403, 0.779741876948)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.286787462, -8.4745051e-05, 0.000503982234, 0.957994097)
+            double3 xformOp:translate = (2.98772871834, 8.85657177986, 0.745755981405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0997965184, 1.24258741e-05, 0.000510906463, 0.995007736)
+            double3 xformOp:translate = (1.92107288514, 8.34180774486, 0.741049752594)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997823601, 0, 0, -0.0659398247)
+            double3 xformOp:translate = (4.97034588885, 8.31225081389, 0.966412030353)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.692087755, 0, 0, 0.721813369)
+            double3 xformOp:translate = (4.80742271729, 8.73431122378, 0.997567546264)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.931531516, -0.00049543257, -0.000125404884, -0.363660244)
+            double3 xformOp:translate = (3.19788932893, 8.54819332351, 0.747659662871)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.427256995, -0.000273945972, -0.000431431826, -0.904130078)
+            double3 xformOp:translate = (2.93775029198, 8.29809286893, 0.746218425874)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996434919, -0.000499963576, 0.000105906745, 0.0843634501)
+            double3 xformOp:translate = (3.44867592209, 8.63434045841, 0.753571506845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.854545316, -0.000466256354, -0.000209248246, -0.51937659)
+            double3 xformOp:translate = (3.68018411055, 8.27434453369, 0.841114833505)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.399898442, -0.000260859412, -0.000439468069, -0.916559313)
+            double3 xformOp:translate = (3.0396655078, 8.28226108667, 0.752211518725)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.660125993, -0.000287174364, 0.000422741884, 0.751154719)
+            double3 xformOp:translate = (2.06218341704, 8.63024786035, 0.818106886266)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998512885, -0.000509815297, 3.56114999e-05, -0.0545138323)
+            double3 xformOp:translate = (3.5612802326, 8.78600647269, 0.840610954757)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964629981, -0.000472479598, 0.000194789234, 0.263607166)
+            double3 xformOp:translate = (2.53175031809, 8.86358792382, 0.775409294084)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.562137827, -0.000232675412, 0.000455018647, 0.82704341)
+            double3 xformOp:translate = (2.73521218304, 8.86897014011, 0.786623960764)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.974656186, -0.00048009171, 0.000175190656, 0.223707527)
+            double3 xformOp:translate = (2.62646019971, 8.28475115911, 0.789883840894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.253226963, -0.000189701178, -0.00047454534, -0.967406762)
+            double3 xformOp:translate = (2.80169181438, 8.32602584679, 0.811125892493)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698091036, -0.000308653554, 0.000407323949, 0.71600883)
+            double3 xformOp:translate = (3.68754481261, 8.59937055884, 0.85740435076)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.508337535, 0, 0, 0.861157913)
+            double3 xformOp:translate = (4.98849725836, 8.10347302336, 0.979198459737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.235382608, -5.77957149e-05, 0.000507778959, 0.971902653)
+            double3 xformOp:translate = (3.38285038957, 8.81305071733, 0.794296656101)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.263432796, -0.000194703826, -0.0004725148, -0.964677615)
+            double3 xformOp:translate = (2.34357604869, 8.23267076375, 0.811278620003)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.10589179, -0.000116693773, -0.000497556408, -0.994377528)
+            double3 xformOp:translate = (1.7276614446, 8.39268973414, 0.775629459417)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.301099903, -0.000213103166, -0.000464507112, -0.953592464)
+            double3 xformOp:translate = (1.79907324136, 8.82709290133, 0.74586023218)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0154/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0154/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b92d06e821f87fee1170f60f4a9dca1e295c403c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0154/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5703996217638862811,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small electronic device": 1,
+    "electronics": 3,
+    "small object": 3,
+    "clock": 4,
+    "office_supply": 3,
+    "book": 2,
+    "decorative_object": 2,
+    "paper_goods": 2,
+    "writing_instrument": 1,
+    "small_electronics": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 176,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.4135032403615444,
+        8.879099905259688,
+        0.7403157209980749
+      ],
+      "rotation_wxyz": [
+        0.28985250367949217,
+        -8.635784928898252e-05,
+        0.0005037083859799179,
+        0.9570711911508536
+      ],
+      "yaw_degrees_local": 146.2430333674962,
+      "yaw_radians": 2.5534473395004733,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4135032403615444,
+        8.879099905259688,
+        0.7903158148753904
+      ],
+      "z_min": 0.7403157209980749,
+      "z_max": 0.8403159087527059
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.560253157612089,
+        8.47917863499178,
+        0.7407027406398612
+      ],
+      "rotation_wxyz": [
+        0.9951704863783464,
+        -0.0004984483253003426,
+        0.00011282323894303174,
+        0.09816028658102674
+      ],
+      "yaw_degrees_local": 11.207773894528088,
+      "yaw_radians": 0.19663709004077978,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.560253157612089,
+        8.47917863499178,
+        0.7907028345171767
+      ],
+      "z_min": 0.7407027406398612,
+      "z_max": 0.8407029283944922
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        1.918181183105315,
+        8.720621666495685,
+        0.7881897418886679
+      ],
+      "rotation_wxyz": [
+        0.7741181685074277,
+        -0.0003524641891423186,
+        0.0003700659557599976,
+        0.6330409149548629
+      ],
+      "yaw_degrees_local": 78.49096936030747,
+      "yaw_radians": 1.370950499217964,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.918181183105315,
+        8.720621666495685,
+        0.8357132190889116
+      ],
+      "z_min": 0.7406659385318103,
+      "z_max": 0.8357128929322979
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.091515236032894,
+        8.218123359363283,
+        0.7778091719124143
+      ],
+      "rotation_wxyz": [
+        0.9985941037611222,
+        -0.0005030450934797413,
+        9.014127892520119e-05,
+        0.05300523326715163
+      ],
+      "yaw_degrees_local": 6.018090477204339,
+      "yaw_radians": 0.10606006752232378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.091515236032894,
+        8.218123359363283,
+        0.8144193849815929
+      ],
+      "z_min": 0.7411536211881296,
+      "z_max": 0.8143740473264869
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.7178170385883362,
+        8.765003837305427,
+        0.7478108715700816
+      ],
+      "rotation_wxyz": [
+        0.028292887239294462,
+        4.8977400084483015e-05,
+        0.0005087052491583678,
+        0.9995995454940186
+      ],
+      "yaw_degrees_local": 176.6987303963091,
+      "yaw_radians": 3.0849992843821994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7178170385883362,
+        8.765003837305427,
+        0.7553507742131811
+      ],
+      "z_min": 0.7403928878771698,
+      "z_max": 0.7554726931633687
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.417264945823665,
+        8.377656730595922,
+        0.8252339869828882
+      ],
+      "rotation_wxyz": [
+        0.8854809377759557,
+        -0.0004196040718926751,
+        0.00029174001969458924,
+        0.4646754218329156
+      ],
+      "yaw_degrees_local": 55.31973329778452,
+      "yaw_radians": 0.9665359635422304,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.417264945823665,
+        8.377656730595922,
+        0.9096441090775917
+      ],
+      "z_min": 0.7408238682811095,
+      "z_max": 0.9096441124705165
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        1.7847089301209766,
+        8.67293644398516,
+        0.7532415873491128
+      ],
+      "rotation_wxyz": [
+        0.16955812267555653,
+        -2.3552398146533613e-05,
+        0.000510514545122722,
+        0.9855200565462506
+      ],
+      "yaw_degrees_local": 160.41703025144062,
+      "yaw_radians": 2.8008301538623854,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7847089301209766,
+        8.67293644398516,
+        0.7658124101143777
+      ],
+      "z_min": 0.7407311952132614,
+      "z_max": 0.765872840743791
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        4.853478863782631,
+        8.15584447838469,
+        0.9963495553835341
+      ],
+      "rotation_wxyz": [
+        0.1722348468300307,
+        0.0,
+        0.0,
+        0.9850559159445904
+      ],
+      "yaw_degrees_local": 70.16443346692691,
+      "yaw_radians": 2.795396708589271,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.853478863782631,
+        8.15584447838469,
+        1.0725354939056202
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0725719059405041
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.230387560600111,
+        8.354777440303845,
+        0.7797418769479971
+      ],
+      "rotation_wxyz": [
+        0.40899906944471287,
+        -0.00026521952082685823,
+        -0.00043685057172067923,
+        -0.9125346568835306
+      ],
+      "yaw_degrees_local": -131.7747569019777,
+      "yaw_radians": -2.298878932975921,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.230387560600111,
+        8.354777440303845,
+        0.8186893084830038
+      ],
+      "z_min": 0.7408707269798761,
+      "z_max": 0.8187655900498896
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.987728718339466,
+        8.856571779858186,
+        0.7457559814052059
+      ],
+      "rotation_wxyz": [
+        0.2867874618201009,
+        -8.474505104589459e-05,
+        0.0005039822343729403,
+        0.9579940973528847
+      ],
+      "yaw_degrees_local": 146.60983822512594,
+      "yaw_radians": 2.5598492899560403,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.987728718339466,
+        8.856571779858186,
+        0.7510914221002067
+      ],
+      "z_min": 0.7403925186583958,
+      "z_max": 0.7510634000483974
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.9210728851408816,
+        8.341807744858942,
+        0.7410497525939552
+      ],
+      "rotation_wxyz": [
+        0.09979651843050284,
+        1.2425874119606352e-05,
+        0.000510906462958413,
+        0.9950077355123097
+      ],
+      "yaw_degrees_local": 168.4863816230192,
+      "yaw_radians": 2.9416668335788367,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9210728851408816,
+        8.341807744858942,
+        0.8910497585544197
+      ],
+      "z_min": 0.7410497525939552,
+      "z_max": 1.0410497645148842
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        4.970345888854104,
+        8.312250813886857,
+        0.9664120303525626
+      ],
+      "rotation_wxyz": [
+        0.9978236014038068,
+        0.0,
+        0.0,
+        -0.06593982470053217
+      ],
+      "yaw_degrees_local": -97.56163382044203,
+      "yaw_radians": -0.13197540699687088,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.970345888854104,
+        8.312250813886857,
+        1.012604630258645
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0125852287084967
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        4.807422717290239,
+        8.734311223775753,
+        0.9975675462637151
+      ],
+      "rotation_wxyz": [
+        0.6920877549865024,
+        0.0,
+        0.0,
+        0.7218133688133958
+      ],
+      "yaw_degrees_local": 2.4087983547448744,
+      "yaw_radians": 1.6128377891018173,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.807422717290239,
+        8.734311223775753,
+        1.0749493013970546
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0749635391630106
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.1978893289324746,
+        8.54819332350513,
+        0.7476596628706296
+      ],
+      "rotation_wxyz": [
+        0.9315315164111423,
+        -0.000495432569850747,
+        -0.00012540488416085442,
+        -0.3636602435693813
+      ],
+      "yaw_degrees_local": -42.70902634280199,
+      "yaw_radians": -0.7443881928432698,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1978893289324746,
+        8.54819332350513,
+        0.7546429436794702
+      ],
+      "z_min": 0.7406786592717478,
+      "z_max": 0.754645220889429
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.9377502919769714,
+        8.2980928689257,
+        0.7462184258743234
+      ],
+      "rotation_wxyz": [
+        0.4272569953114314,
+        -0.00027394597174938413,
+        -0.00043143182636727,
+        -0.9041300784608548
+      ],
+      "yaw_degrees_local": -129.47148793825974,
+      "yaw_radians": -2.2586792977594836,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9377502919769714,
+        8.2980928689257,
+        0.7514543411924569
+      ],
+      "z_min": 0.7409652782052423,
+      "z_max": 0.7514371088415093
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        3.448675922092345,
+        8.634340458405447,
+        0.7535715068446801
+      ],
+      "rotation_wxyz": [
+        0.9964349186542828,
+        -0.0004999635761772593,
+        0.00010590674547146846,
+        0.08436345006350117
+      ],
+      "yaw_degrees_local": 9.620134383146137,
+      "yaw_radians": 0.16892756506047182,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.448675922092345,
+        8.634340458405447,
+        0.7665473259544423
+      ],
+      "z_min": 0.740559514283551,
+      "z_max": 0.7665111525030754
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.680184110548163,
+        8.274344533689506,
+        0.8411148335051531
+      ],
+      "rotation_wxyz": [
+        0.8545453159207094,
+        -0.0004662563543519742,
+        -0.00020924824555230767,
+        -0.5193765896323776
+      ],
+      "yaw_degrees_local": -62.639606810632515,
+      "yaw_radians": -1.0922424469166114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.680184110548163,
+        8.274344533689506,
+        0.9412035345971661
+      ],
+      "z_min": 0.7408953469409578,
+      "z_max": 0.9410727491249838
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.0396655077950325,
+        8.282261086672445,
+        0.7522115187250537
+      ],
+      "rotation_wxyz": [
+        0.39989844238514444,
+        -0.0002608594117983294,
+        -0.0004394680688247353,
+        -0.9165593131915247
+      ],
+      "yaw_degrees_local": -132.9150443389458,
+      "yaw_radians": -2.318780706669013,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0396655077950325,
+        8.282261086672445,
+        0.7634445179489658
+      ],
+      "z_min": 0.7409684256651045,
+      "z_max": 0.7634344241129288
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.0621834170438924,
+        8.63024786035211,
+        0.8181068862661536
+      ],
+      "rotation_wxyz": [
+        0.6601259931336045,
+        -0.00028717436441786374,
+        0.00042274188420537257,
+        0.7511547190889214
+      ],
+      "yaw_degrees_local": 97.32231152700308,
+      "yaw_radians": 1.6996195885553638,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0621834170438924,
+        8.63024786035211,
+        0.895488641399493
+      ],
+      "z_min": 0.7407393688987702,
+      "z_max": 0.8955028791654491
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        3.561280232601587,
+        8.78600647268653,
+        0.8406109547572411
+      ],
+      "rotation_wxyz": [
+        0.9985128846993029,
+        -0.0005098152972539039,
+        3.561149991542379e-05,
+        -0.05451383227824719
+      ],
+      "yaw_degrees_local": -6.308634419045575,
+      "yaw_radians": -0.10908175973300005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.561280232601587,
+        8.78600647268653,
+        0.9406996558492542
+      ],
+      "z_min": 0.7403914681930458,
+      "z_max": 0.9405688703770718
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.531750318089603,
+        8.863587923823063,
+        0.7754092940837861
+      ],
+      "rotation_wxyz": [
+        0.9646299812016039,
+        -0.0004724795980286637,
+        0.00019478923401200848,
+        0.26360716641847426
+      ],
+      "yaw_degrees_local": 30.50970730601108,
+      "yaw_radians": 0.5335192837099585,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.531750318089603,
+        8.863587923823063,
+        0.8105223684269715
+      ],
+      "z_min": 0.7404431910968552,
+      "z_max": 0.810669339783226
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.735212183038908,
+        8.86897014011027,
+        0.7866239607642973
+      ],
+      "rotation_wxyz": [
+        0.5621378274510235,
+        -0.00023267541226031947,
+        0.00045501864661769956,
+        0.8270434098454732
+      ],
+      "yaw_degrees_local": 111.53373527865335,
+      "yaw_radians": 1.9476558178777554,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.735212183038908,
+        8.86897014011027,
+        0.8328165606703798
+      ],
+      "z_min": 0.7404119593080665,
+      "z_max": 0.8327971591202313
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        2.626460199705319,
+        8.284751159105804,
+        0.7898838408938058
+      ],
+      "rotation_wxyz": [
+        0.9746561861819492,
+        -0.00048009171041500415,
+        0.00017519065566150613,
+        0.22370752682339856
+      ],
+      "yaw_degrees_local": 25.79506848096443,
+      "yaw_radians": 0.4512333273867471,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.626460199705319,
+        8.284751159105804,
+        0.838751305399755
+      ],
+      "z_min": 0.7410182733814876,
+      "z_max": 0.838753202393386
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.8016918143811864,
+        8.32602584679432,
+        0.8111258924928859
+      ],
+      "rotation_wxyz": [
+        0.2532269630435402,
+        -0.00018970117785242993,
+        -0.000474545339627009,
+        -0.9674067624365303
+      ],
+      "yaw_degrees_local": -150.7216070018498,
+      "yaw_radians": -2.6295638556125898,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8016918143811864,
+        8.32602584679432,
+        0.8813022587248047
+      ],
+      "z_min": 0.7409542203526658,
+      "z_max": 0.8813069528165035
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.6875448126147963,
+        8.59937055884401,
+        0.8574043507604973
+      ],
+      "rotation_wxyz": [
+        0.6980910355037545,
+        -0.0003086535543496956,
+        0.00040732394924385693,
+        0.7160088302314992
+      ],
+      "yaw_degrees_local": 91.39318008077692,
+      "yaw_radians": 1.5961366733931557,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6875448126147963,
+        8.59937055884401,
+        0.9742631694364696
+      ],
+      "z_min": 0.7405647711602327,
+      "z_max": 0.9742824085121775
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        4.988497258356203,
+        8.103473023360465,
+        0.9791984597370379
+      ],
+      "rotation_wxyz": [
+        -0.5083375345038572,
+        0.0,
+        0.0,
+        0.8611579129373079
+      ],
+      "yaw_degrees_local": 151.10631413237945,
+      "yaw_radians": -2.07508627822183,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.988497258356203,
+        8.103473023360465,
+        1.0383247377695581
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0384525849613722
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.38285038957246,
+        8.813050717330876,
+        0.7942966561005672
+      ],
+      "rotation_wxyz": [
+        0.23538260801195773,
+        -5.779571489772541e-05,
+        0.0005077789593708797,
+        0.9719026528751082
+      ],
+      "yaw_degrees_local": 152.7129314116874,
+      "yaw_radians": 2.6663683222615697,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.38285038957246,
+        8.813050717330876,
+        0.8482168583939654
+      ],
+      "z_min": 0.7403866221207409,
+      "z_max": 0.8482270267075374
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        2.3435760486895343,
+        8.232670763754687,
+        0.8112786200028199
+      ],
+      "rotation_wxyz": [
+        0.26343279644591683,
+        -0.0001947038258336387,
+        -0.00047251480024022185,
+        -0.964677614841802
+      ],
+      "yaw_degrees_local": -149.51100616341108,
+      "yaw_radians": -2.6084348880730257,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3435760486895343,
+        8.232670763754687,
+        0.8814549862347387
+      ],
+      "z_min": 0.7411069478625998,
+      "z_max": 0.8814596803264375
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        1.7276614446015301,
+        8.39268973414387,
+        0.7756294594169738
+      ],
+      "rotation_wxyz": [
+        0.10589179017128243,
+        -0.0001166937734159918,
+        -0.0004975564083460786,
+        -0.9943775276998696
+      ],
+      "yaw_degrees_local": -167.9016111678026,
+      "yaw_radians": -2.929411406946471,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7276614446015301,
+        8.39268973414387,
+        0.8102291863998091
+      ],
+      "z_min": 0.7410226699665905,
+      "z_max": 0.810222123932261
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        1.7990732413577388,
+        8.827092901327255,
+        0.7458602321797144
+      ],
+      "rotation_wxyz": [
+        0.3010999034929422,
+        -0.00021310316649485953,
+        -0.000464507111538862,
+        -0.9535924637583525
+      ],
+      "yaw_degrees_local": -145.01134999378147,
+      "yaw_radians": -2.529901079936741,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7990732413577388,
+        8.827092901327255,
+        0.7511612228108279
+      ],
+      "z_min": 0.7405730210264467,
+      "z_max": 0.7511750022886737
+    }
+  ],
+  "variant_index": 154
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0156/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0156/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..49972f01f23aae94f4edfbd6138d9a720a0d0e46
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0156/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 7597704156532116658
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.53778989, -0.000219312337, 0.000461607967, 0.843078747)
+            double3 xformOp:translate = (3.66437841215, 8.48061607581, 0.74068808696)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.582978894, -0.000244166397, 0.000448957221, 0.812487137)
+            double3 xformOp:translate = (3.2423387855, 8.34802996746, 0.740876035946)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.932574388, -0.000450055232, 0.000242136541, 0.360977492)
+            double3 xformOp:translate = (3.49214559007, 8.64607830113, 0.748554868744)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.270165568, -7.60104961e-05, 0.000505373348, 0.962813744)
+            double3 xformOp:translate = (1.79574232244, 8.56955554656, 0.749868557267)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.385139434, -0.000136846781, 0.000492394938, 0.922858253)
+            double3 xformOp:translate = (1.74303325882, 8.70113655306, 0.825118030369)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.524199762, -0.000211881046, 0.000465065843, 0.851595179)
+            double3 xformOp:translate = (3.63777333079, 8.8423261633, 0.746264858604)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.701000075, -0.000400667461, -0.000317246595, -0.713161016)
+            double3 xformOp:translate = (2.26594348879, 8.2737963927, 0.857914677036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.382537904, -0.000135458995, 0.000492778527, 0.923939658)
+            double3 xformOp:translate = (3.65939023356, 8.29873456099, 0.775839313299)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.114364654, -0.000120931023, -0.000496543557, -0.993438707)
+            double3 xformOp:translate = (2.30638008244, 8.834127345, 0.817869165141)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991110921, -0.000494180188, 0.000130252671, 0.133037138)
+            double3 xformOp:translate = (3.53249001698, 8.26878743213, 0.882554581012)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.657109816, -0.000380984176, -0.000340633049, -0.753794686)
+            double3 xformOp:translate = (1.77238976617, 8.89519064787, 0.786719357761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.721782232, -0.000322181106, 0.000396710412, 0.692120039)
+            double3 xformOp:translate = (2.70472900456, 8.20291596802, 0.746448061026)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.985682653, -0.000489173845, 0.000147948525, 0.168610338)
+            double3 xformOp:translate = (1.81136914821, 8.19363871492, 0.819173772467)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99660699, -0.000500181189, 0.000104874184, 0.0823058101)
+            double3 xformOp:translate = (2.98898597887, 8.32670139062, 0.780286862232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.141905301, 0, 0, 0.989880238)
+            double3 xformOp:translate = (4.93116045529, 8.16115108055, 0.992972247698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.585132334, -0.000245356602, 0.000448307879, 0.810937661)
+            double3 xformOp:translate = (3.45129531479, 8.85642624411, 0.770242074775)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0948663799, -0.00011117308, -0.000498818968, -0.995489884)
+            double3 xformOp:translate = (1.90203027725, 8.47268871876, 0.78750967982)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0406613607, 4.26781187e-05, 0.000509272417, 0.999172854)
+            double3 xformOp:translate = (2.82644083011, 8.81903479047, 0.747869010003)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.364031109, -0.000243609834, -0.000449259463, -0.931386649)
+            double3 xformOp:translate = (2.50158695293, 8.28577483772, 0.749027270182)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93787807, -0.000497593333, -0.000116536221, -0.346964643)
+            double3 xformOp:translate = (1.94947230324, 8.64761040002, 0.825146162257)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995973261, -0.000510753266, 1.76328441e-05, -0.0896493255)
+            double3 xformOp:translate = (2.09510474403, 8.30483556504, 0.750614735169)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.180560041, -0.000153874181, -0.000487342336, -0.983563831)
+            double3 xformOp:translate = (2.03737622202, 8.80364948391, 0.771158618792)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984084177, -0.000487787257, 0.000152457889, 0.1777022)
+            double3 xformOp:translate = (3.41244701707, 8.44847568171, 0.827139909934)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.624149782, -0.000267020246, 0.000435752228, 0.781304543)
+            double3 xformOp:translate = (3.31935589305, 8.46166794716, 0.746401461718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.685441846, -0.000393725751, -0.000325821806, -0.728127197)
+            double3 xformOp:translate = (2.46186904666, 8.87911956466, 0.870387505174)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.50668585, -0.000202332037, 0.000469299013, 0.86213061)
+            double3 xformOp:translate = (1.77611013132, 8.31952371042, 0.787680978924)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.272295877, -0.000199042328, -0.000470703694, -0.962213435)
+            double3 xformOp:translate = (3.36890846184, 8.64076623528, 0.745926562432)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.977623996, -0.000482442348, 0.0001686096, 0.21035936)
+            double3 xformOp:translate = (2.63644802816, 8.84255997759, 0.804699741029)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984223746, -0.000510324022, -2.73716719e-05, -0.176927545)
+            double3 xformOp:translate = (1.74823529386, 8.43598829891, 0.841233188211)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.839926135, -0.000460320316, -0.000222002303, -0.542700495)
+            double3 xformOp:translate = (1.95976770641, 8.32464864335, 0.871013484227)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0156/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0156/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..faffe1aecc12916dfbfdacb3154f2fefa2314bdb
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0156/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 7597704156532116658,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 5,
+    "electronics": 5,
+    "book": 1,
+    "small object": 6,
+    "office_supply": 5,
+    "clock": 2,
+    "paper_goods": 1,
+    "decorative_object": 1,
+    "small prop": 2,
+    "writing_instrument": 1,
+    "drinkware/container": 1
+  },
+  "failed_sampling_attempt_count": 162,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.664378412145991,
+        8.480616075811843,
+        0.7406880869597792
+      ],
+      "rotation_wxyz": [
+        0.5377898902145666,
+        -0.00021931233749119768,
+        0.00046160796663885647,
+        0.8430787465018842
+      ],
+      "yaw_degrees_local": 114.87465311559089,
+      "yaw_radians": 2.005965849037343,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.664378412145991,
+        8.480616075811843,
+        0.7631850986735622
+      ],
+      "z_min": 0.7406880899547137,
+      "z_max": 0.7856821133822798
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.2423387855005332,
+        8.348029967455737,
+        0.7408760359456392
+      ],
+      "rotation_wxyz": [
+        0.5829788936896895,
+        -0.0002441663972723201,
+        0.00044895722144027057,
+        0.8124871373335886
+      ],
+      "yaw_degrees_local": 108.62060669351229,
+      "yaw_radians": 1.896812117121966,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2423387855005332,
+        8.348029967455737,
+        0.9183760305812212
+      ],
+      "z_min": 0.7408760359456392,
+      "z_max": 1.0958760252168032
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.492145590071431,
+        8.646078301130707,
+        0.7485548687442982
+      ],
+      "rotation_wxyz": [
+        0.9325743877985414,
+        -0.00045005523203771905,
+        0.00024213654072813444,
+        0.3609774924318134
+      ],
+      "yaw_degrees_local": 42.26177400446795,
+      "yaw_radians": 0.7386315361853985,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.492145590071431,
+        8.646078301130707,
+        0.7563842079291162
+      ],
+      "z_min": 0.7405420991187355,
+      "z_max": 0.7562007774883714
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        1.7957423224405442,
+        8.569555546555831,
+        0.7498685572666155
+      ],
+      "rotation_wxyz": [
+        0.2701655676122735,
+        -7.601049605911356e-05,
+        0.0005053733478619149,
+        0.9628137436165534
+      ],
+      "yaw_degrees_local": 148.5930467353466,
+      "yaw_radians": 2.5944627966995046,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7957423224405442,
+        8.569555546555831,
+        0.7587018033700977
+      ],
+      "z_min": 0.7408346476868162,
+      "z_max": 0.7585011398937807
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        1.74303325882387,
+        8.701136553064021,
+        0.8251180303687885
+      ],
+      "rotation_wxyz": [
+        0.3851394344236557,
+        -0.0001368467805314594,
+        0.0004923949379293894,
+        0.9228582528601078
+      ],
+      "yaw_degrees_local": 134.6364897480659,
+      "yaw_radians": 2.3508749833752813,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.74303325882387,
+        8.701136553064021,
+        0.9095281524634921
+      ],
+      "z_min": 0.7407079116670098,
+      "z_max": 0.9095281558564168
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.6377733307909645,
+        8.842326163301362,
+        0.7462648586039777
+      ],
+      "rotation_wxyz": [
+        0.5241997621085934,
+        -0.00021188104607743985,
+        0.00046506584324527896,
+        0.8515951786062894
+      ],
+      "yaw_degrees_local": 116.7125058870397,
+      "yaw_radians": 2.038042437894374,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6377733307909645,
+        8.842326163301362,
+        0.75208207137055
+      ],
+      "z_min": 0.740324605941668,
+      "z_max": 0.7519590314748127
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.265943488785228,
+        8.273796392703757,
+        0.8579146770364338
+      ],
+      "rotation_wxyz": [
+        0.7010000746158175,
+        -0.00040066746122157065,
+        -0.000317246594557883,
+        -0.7131610156260662
+      ],
+      "yaw_degrees_local": -91.04410511726842,
+      "yaw_radians": -1.5879946531985547,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.265943488785228,
+        8.273796392703757,
+        0.9747734957124061
+      ],
+      "z_min": 0.7410750974361692,
+      "z_max": 0.974792734788114
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.6593902335608264,
+        8.29873456099454,
+        0.7758393132991497
+      ],
+      "rotation_wxyz": [
+        0.3825379037242367,
+        -0.0001354589952198563,
+        0.0004927785271847177,
+        0.9239396576803329
+      ],
+      "yaw_degrees_local": 134.95933315157214,
+      "yaw_radians": 2.3565096630250193,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6593902335608264,
+        8.29873456099454,
+        0.810952387642335
+      ],
+      "z_min": 0.7408732103122188,
+      "z_max": 0.8110993589985895
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.3063800824420744,
+        8.834127345003548,
+        0.8178691651414053
+      ],
+      "rotation_wxyz": [
+        0.11436465429851395,
+        -0.00012093102321146117,
+        -0.0004965435568662045,
+        -0.9934387070511022
+      ],
+      "yaw_degrees_local": -166.92474739845503,
+      "yaw_radians": -2.9123619246964365,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3063800824420744,
+        8.834127345003548,
+        0.8952509202747447
+      ],
+      "z_min": 0.7405016477740219,
+      "z_max": 0.8952651580407008
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.5324900169780085,
+        8.268787432127137,
+        0.8825545810121623
+      ],
+      "rotation_wxyz": [
+        0.9911109214621213,
+        -0.0004941801876355376,
+        0.0001302526713308308,
+        0.13303713834373052
+      ],
+      "yaw_degrees_local": 15.231556368317086,
+      "yaw_radians": 0.26686531484455617,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5324900169780085,
+        8.268787432127137,
+        1.0241153682079138
+      ],
+      "z_min": 0.7409197177730418,
+      "z_max": 1.0240412921645448
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        1.7723897661703836,
+        8.895190647867727,
+        0.7867193577606018
+      ],
+      "rotation_wxyz": [
+        0.6571098156400248,
+        -0.00038098417569609424,
+        -0.0003406330490564299,
+        -0.7537946862440174
+      ],
+      "yaw_degrees_local": -97.89905414379511,
+      "yaw_radians": -1.7076361458364226,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7723897661703836,
+        8.895190647867727,
+        0.8329119576666842
+      ],
+      "z_min": 0.7405073563043709,
+      "z_max": 0.8328925561165358
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        2.7047290045622145,
+        8.202915968023685,
+        0.7464480610262619
+      ],
+      "rotation_wxyz": [
+        0.7217822319678493,
+        -0.0003221811060086948,
+        0.00039671041222953397,
+        0.692120039036361
+      ],
+      "yaw_degrees_local": 87.5376309432267,
+      "yaw_radians": 1.5288446122869455,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7047290045622145,
+        8.202915968023685,
+        0.7517631825263429
+      ],
+      "z_min": 0.7410913337929823,
+      "z_max": 0.7517215767931441
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.8113691482145584,
+        8.193638714915283,
+        0.8191737724670316
+      ],
+      "rotation_wxyz": [
+        0.9856826531388372,
+        -0.0004891738446083358,
+        0.00014794852480309628,
+        0.16861033812126397
+      ],
+      "yaw_degrees_local": 19.355354153506113,
+      "yaw_radians": 0.3388391392116309,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8113691482145584,
+        8.193638714915283,
+        0.8971672969375298
+      ],
+      "z_min": 0.7412139707012718,
+      "z_max": 0.8972010196422683
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.9889859788693816,
+        8.326701390621324,
+        0.780286862231991
+      ],
+      "rotation_wxyz": [
+        0.9966069899619339,
+        -0.0005001811888921822,
+        0.00010487418423385154,
+        0.08230581011810757
+      ],
+      "yaw_degrees_local": 9.383523116253684,
+      "yaw_radians": 0.16479792120755712,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9889859788693816,
+        8.326701390621324,
+        0.8195269370718822
+      ],
+      "z_min": 0.7409297887175803,
+      "z_max": 0.8194099383973629
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        4.931160455289321,
+        8.161151080552271,
+        0.9929722476982082
+      ],
+      "rotation_wxyz": [
+        0.14190530082669833,
+        0.0,
+        0.0,
+        0.9898802380072471
+      ],
+      "yaw_degrees_local": 73.68377434908999,
+      "yaw_radians": 2.856820794483059,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.931160455289321,
+        8.161151080552271,
+        1.065834692304952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0659249181098192
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_002_gray_game_controller_ce3f240b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14535039886758216,
+        0.1272301051515905,
+        0.0597672752352979
+      ],
+      "bbox_min_m": [
+        -0.07266999671645288,
+        -0.06366024497853255,
+        -0.02990813009562319
+      ],
+      "bbox_max_m": [
+        0.07268040215112927,
+        0.06356986017305791,
+        0.02985914513967469
+      ],
+      "translation_world": [
+        3.451295314791238,
+        8.85642624410848,
+        0.7702420747750514
+      ],
+      "rotation_wxyz": [
+        0.5851323343258239,
+        -0.000245356601543217,
+        0.0004483078789397702,
+        0.8109376610730299
+      ],
+      "yaw_degrees_local": 108.31660003391846,
+      "yaw_radians": 1.891506198231,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.451295314791238,
+        8.85642624410848,
+        0.8001257123927004
+      ],
+      "z_min": 0.7403339446794281,
+      "z_max": 0.800101219914726
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        1.9020302772471085,
+        8.472688718761487,
+        0.7875096798201429
+      ],
+      "rotation_wxyz": [
+        0.09486637992436805,
+        -0.00011117308032040312,
+        -0.000498818967614891,
+        -0.9954898838161187
+      ],
+      "yaw_degrees_local": -169.1714505681073,
+      "yaw_radians": -2.9515742762431527,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9020302772471085,
+        8.472688718761487,
+        0.8340912830860608
+      ],
+      "z_min": 0.7409194459554428,
+      "z_max": 0.8340826524872788
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.8264408301134534,
+        8.819034790466086,
+        0.7478690100031381
+      ],
+      "rotation_wxyz": [
+        0.040661360742335485,
+        4.267811869107589e-05,
+        0.0005092724167135925,
+        0.9991728541962925
+      ],
+      "yaw_degrees_local": 175.2805553489435,
+      "yaw_radians": 3.0602474732850586,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8264408301134534,
+        8.819034790466086,
+        0.7554089126462376
+      ],
+      "z_min": 0.7404510263102263,
+      "z_max": 0.7555308315964252
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        2.501586952930187,
+        8.285774837720476,
+        0.7490272701821798
+      ],
+      "rotation_wxyz": [
+        0.3640311089101714,
+        -0.00024360983449136787,
+        -0.0004492594626487025,
+        -0.9313866493384018
+      ],
+      "yaw_degrees_local": -137.36276926343209,
+      "yaw_radians": -2.396408160679796,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.501586952930187,
+        8.285774837720476,
+        0.757122695549614
+      ],
+      "z_min": 0.7410330353644284,
+      "z_max": 0.7572238860992967
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        1.9494723032360053,
+        8.647610400022456,
+        0.8251461622573097
+      ],
+      "rotation_wxyz": [
+        0.9378780704886516,
+        -0.0004975933333382513,
+        -0.0001165362212260231,
+        -0.3469646433235929
+      ],
+      "yaw_degrees_local": -40.66225819657032,
+      "yaw_radians": -0.7086653563485777,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9494723032360053,
+        8.647610400022456,
+        0.9095562843520133
+      ],
+      "z_min": 0.740736043555531,
+      "z_max": 0.909556287744938
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        2.095104744030494,
+        8.304835565043565,
+        0.7506147351691725
+      ],
+      "rotation_wxyz": [
+        0.995973261312661,
+        -0.0005107532663118952,
+        1.7632844128015178e-05,
+        -0.08964932554350923
+      ],
+      "yaw_degrees_local": -10.345578514356532,
+      "yaw_radians": -0.1795396891706742,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.095104744030494,
+        8.304835565043565,
+        0.760118568091377
+      ],
+      "z_min": 0.7410652059251736,
+      "z_max": 0.7600728717695823
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.037376222023336,
+        8.803649483914803,
+        0.7711586187916682
+      ],
+      "rotation_wxyz": [
+        0.1805600409576069,
+        -0.00015387418127437048,
+        -0.00048734233612262207,
+        -0.9835638313955893
+      ],
+      "yaw_degrees_local": -159.25394307610532,
+      "yaw_radians": -2.778481179487393,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.037376222023336,
+        8.803649483914803,
+        0.801761020297061
+      ],
+      "z_min": 0.7405666180582927,
+      "z_max": 0.8017714210690783
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.412447017067761,
+        8.448475681714124,
+        0.8271399099342276
+      ],
+      "rotation_wxyz": [
+        0.9840841767306365,
+        -0.00048778725731534947,
+        0.00015245788874663617,
+        0.1777022001230412
+      ],
+      "yaw_degrees_local": 20.41318823492972,
+      "yaw_radians": 0.3573018212212579,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.412447017067761,
+        8.448475681714124,
+        0.9135391888924943
+      ],
+      "z_min": 0.7407526528918666,
+      "z_max": 0.9135512108084
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.3193558930522697,
+        8.461667947156457,
+        0.7464014617175849
+      ],
+      "rotation_wxyz": [
+        0.6241497819680379,
+        -0.00026702024597181575,
+        0.00043575222831497215,
+        0.7813045427292962
+      ],
+      "yaw_degrees_local": 102.70165585658145,
+      "yaw_radians": 1.793506899119885,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3193558930522697,
+        8.461667947156457,
+        0.752050312930867
+      ],
+      "z_min": 0.740751025447798,
+      "z_max": 0.7520487278743623
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.4618690466630095,
+        8.879119564655593,
+        0.8703875051743645
+      ],
+      "rotation_wxyz": [
+        0.6854418455710591,
+        -0.0003937257507552212,
+        -0.00032582180625696317,
+        -0.7281271971024872
+      ],
+      "yaw_degrees_local": -93.51796490818494,
+      "yaw_radians": -1.6311716740008848,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4618690466630095,
+        8.879119564655593,
+        1.0005546546891337
+      ],
+      "z_min": 0.7404363420587283,
+      "z_max": 1.0007706410882666
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        1.776110131321889,
+        8.319523710424367,
+        0.7876809789236182
+      ],
+      "rotation_wxyz": [
+        0.5066858503254151,
+        -0.00020233203667885467,
+        0.0004692990125428555,
+        0.8621306095367425
+      ],
+      "yaw_degrees_local": 119.05462689957005,
+      "yaw_radians": 2.078920168300146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.776110131321889,
+        8.319523710424367,
+        0.8342625821895362
+      ],
+      "z_min": 0.7410907450589181,
+      "z_max": 0.8342539515907541
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.368908461837957,
+        8.640766235281367,
+        0.7459265624319906
+      ],
+      "rotation_wxyz": [
+        0.2722958768159371,
+        -0.00019904232817129366,
+        -0.00047070369430934325,
+        -0.9622134348933318
+      ],
+      "yaw_degrees_local": -148.456844813709,
+      "yaw_radians": -2.5900363039346854,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.368908461837957,
+        8.640766235281367,
+        0.7512620031269914
+      ],
+      "z_min": 0.7405630996851805,
+      "z_max": 0.7512339810751821
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.6364480281644647,
+        8.842559977594023,
+        0.8046997410285757
+      ],
+      "rotation_wxyz": [
+        0.977623996472687,
+        -0.0004824423479934842,
+        0.0001686095996758383,
+        0.21035936000319924
+      ],
+      "yaw_degrees_local": 24.228117768150128,
+      "yaw_radians": 0.423884884407611,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6364480281644647,
+        8.842559977594023,
+        0.8688886951162962
+      ],
+      "z_min": 0.7404512682953093,
+      "z_max": 0.8688291764707502
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        1.748235293859709,
+        8.435988298908342,
+        0.8412331882105389
+      ],
+      "rotation_wxyz": [
+        0.9842237461708202,
+        -0.0005103240223782302,
+        -2.7371671925847013e-05,
+        -0.1769275453219784
+      ],
+      "yaw_degrees_local": -20.4404108928328,
+      "yaw_radians": -0.35572766379131543,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.748235293859709,
+        8.435988298908342,
+        0.941450068273189
+      ],
+      "z_min": 0.7409761827322604,
+      "z_max": 0.9414099428575604
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        1.959767706410895,
+        8.324648643348828,
+        0.8710134842265459
+      ],
+      "rotation_wxyz": [
+        0.8399261346604007,
+        -0.00046032031634498684,
+        -0.0002220023031420257,
+        -0.5427004948722847
+      ],
+      "yaw_degrees_local": -65.79404636703143,
+      "yaw_radians": -1.1472978149565287,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.959767706410895,
+        8.324648643348828,
+        1.0011806337413152
+      ],
+      "z_min": 0.7410623211109097,
+      "z_max": 1.001396620140448
+    }
+  ],
+  "variant_index": 156
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0158/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0158/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..92ab651eb9d9b9f9d77345a12284b9e3d9a275b5
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0158/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4574693430719719417
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.884297112, -0.000418861264, 0.000292805495, 0.466924358)
+            double3 xformOp:translate = (1.93975062453, 8.59666144329, 0.740485208894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.101065474, 1.17742517e-05, 0.000510921895, 0.994879645)
+            double3 xformOp:translate = (3.31908677989, 8.29552127478, 0.740919567894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94684225, -0.000459779081, 0.000223121072, 0.321697826)
+            double3 xformOp:translate = (3.35349336531, 8.48936848639, 0.748414795204)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.160554961, -0.000143948665, -0.00049036578, -0.987026769)
+            double3 xformOp:translate = (1.81553424728, 8.73573799121, 0.799662049385)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.718534301, -0.000408439963, -0.000307175215, -0.695491335)
+            double3 xformOp:translate = (1.75271631922, 8.27975252582, 0.750683556192)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952155418, -0.000502214006, -9.46620748e-05, -0.305613807)
+            double3 xformOp:translate = (1.74739595879, 8.49671304666, 0.750936345398)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.173692714, -0.000150469948, -0.000488404147, -0.984799766)
+            double3 xformOp:translate = (3.23900658877, 8.82548156055, 0.810563920165)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.775398012, -0.000433220837, -0.000271107953, -0.631472614)
+            double3 xformOp:translate = (3.60793381773, 8.42776171995, 0.808802218807)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.239964337, -0.000183189285, -0.000477096953, -0.970781569)
+            double3 xformOp:translate = (3.54260468587, 8.86440514537, 0.779185437871)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97805152, 0, 0, 0.208363202)
+            double3 xformOp:translate = (4.96108371108, 8.15764294703, 0.956855579621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.710231986, -0.000315573248, 0.000401986743, 0.703967516)
+            double3 xformOp:translate = (1.91477466446, 8.88003137487, 0.804753173155)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.824940159, -0.000454147302, -0.000234371595, -0.565219845)
+            double3 xformOp:translate = (2.19222958764, 8.25907511177, 0.819059149323)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.188824315, -3.35449083e-05, 0.000509955444, 0.982010752)
+            double3 xformOp:translate = (2.83539145163, 8.2728951987, 0.746301124655)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993835992, 0, 0, -0.110860372)
+            double3 xformOp:translate = (4.8258475683, 8.64427649979, 0.969065596409)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.844049693, -0.000462003729, -0.000218477392, -0.536264724)
+            double3 xformOp:translate = (2.21895561052, 8.87578756893, 0.750019965232)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.723894485, -0.00041080465, -0.000304005519, -0.689910511)
+            double3 xformOp:translate = (2.72706189665, 8.86567169145, 0.780979862847)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.354678369, -0.000239095073, -0.000451678384, -0.934988232)
+            double3 xformOp:translate = (3.59036142976, 8.24588685872, 0.740935537914)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.98267351, -0.000486587754, 0.000156243956, 0.185344306)
+            double3 xformOp:translate = (3.04924800973, 8.26872584945, 0.754359223712)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.839637159, -0.000460202088, -0.000222247281, -0.543147476)
+            double3 xformOp:translate = (3.28022078077, 8.56236883952, 0.799652308533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958690463, -0.000504187352, -8.35160462e-05, -0.284450936)
+            double3 xformOp:translate = (2.03791493804, 8.28229135639, 0.754107311369)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00120514717, 6.273934e-05, 0.000507191868, 0.999999143)
+            double3 xformOp:translate = (3.68321995683, 8.69532435007, 0.744837600297)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.101483176, -0.00011448721, -0.000498068765, -0.994837124)
+            double3 xformOp:translate = (1.88478983729, 8.42621597415, 0.788548568121)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.689310205, -0.00030366488, 0.000411056513, 0.724466135)
+            double3 xformOp:translate = (1.75700678302, 8.85787341534, 0.752354514405)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.556671209, -0.000229669481, 0.000456543257, 0.830732751)
+            double3 xformOp:translate = (3.42828239177, 8.79603319751, 0.840655155239)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.945155245, -0.000458611686, 0.000225510838, 0.326621036)
+            double3 xformOp:translate = (2.59705538308, 8.30514064384, 0.751022991492)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.762605872, -0.000345750469, 0.000376346156, 0.646863218)
+            double3 xformOp:translate = (3.17833774746, 8.70199000152, 0.746465403058)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.141315985, -8.94880749e-06, 0.000510979192, 0.989964409)
+            double3 xformOp:translate = (3.34481319669, 8.2042022416, 0.749021700842)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989068765, -0.000492231254, 0.00013743438, 0.147454118)
+            double3 xformOp:translate = (2.27343743194, 8.17436138824, 0.746538402642)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.809992272, -0.000447911319, -0.000246079797, -0.586440328)
+            double3 xformOp:translate = (2.46521466934, 8.86219455688, 0.870404247168)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.671608164, -0.000293646397, 0.000418272172, 0.740906345)
+            double3 xformOp:translate = (2.38435292103, 8.33054655561, 0.7479834832)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0158/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0158/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82b762b3a79d08cda880948fbf7260edd3d5332
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0158/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4574693430719719417,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 6,
+    "electronics": 7,
+    "drinkware": 7,
+    "small object": 2,
+    "clock": 1,
+    "small electronic device": 1,
+    "small prop": 1,
+    "paper goods": 1,
+    "drinkware/container": 1,
+    "office_supply": 3
+  },
+  "failed_sampling_attempt_count": 168,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        1.939750624530496,
+        8.596661443287315,
+        0.7404852088935184
+      ],
+      "rotation_wxyz": [
+        0.8842971121788541,
+        -0.0004188612637060869,
+        0.0002928054951787151,
+        0.4669243581270133
+      ],
+      "yaw_degrees_local": 55.61096640171223,
+      "yaw_radians": 0.9716189416304616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.939750624530496,
+        8.596661443287315,
+        0.7492972762980242
+      ],
+      "z_min": 0.7407889051233395,
+      "z_max": 0.7584130399323511
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.3190867798913994,
+        8.29552127478471,
+        0.7409195678944591
+      ],
+      "rotation_wxyz": [
+        0.10106547443103299,
+        1.1774251701483826e-05,
+        0.0005109218954372406,
+        0.99487964533315
+      ],
+      "yaw_degrees_local": 168.3402310135678,
+      "yaw_radians": 2.9391160255568147,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3190867798913994,
+        8.29552127478471,
+        0.8909195738549236
+      ],
+      "z_min": 0.7409195678944591,
+      "z_max": 1.040919579815388
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.353493365311544,
+        8.489368486393722,
+        0.7484147952044289
+      ],
+      "rotation_wxyz": [
+        0.9468422504720057,
+        -0.0004597790810558248,
+        0.0002231210722091794,
+        0.32169782644788214
+      ],
+      "yaw_degrees_local": 37.47256136250857,
+      "yaw_radians": 0.6550440038921616,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.353493365311544,
+        8.489368486393722,
+        0.7562697015482295
+      ],
+      "z_min": 0.7407186064822086,
+      "z_max": 0.7564284191698097
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        1.8155342472845515,
+        8.735737991206397,
+        0.7996620493852522
+      ],
+      "rotation_wxyz": [
+        0.1605549612047221,
+        -0.0001439486651227561,
+        -0.0004903657798518258,
+        -0.9870267692685615
+      ],
+      "yaw_degrees_local": -161.58048876227298,
+      "yaw_radians": -2.8190870493030875,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8155342472845515,
+        8.735737991206397,
+        0.8587883274177723
+      ],
+      "z_min": 0.7406636185445461,
+      "z_max": 0.8589161746095864
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        1.7527163192173822,
+        8.27975252581918,
+        0.7506835561917017
+      ],
+      "rotation_wxyz": [
+        0.718534300591124,
+        -0.00040843996314884163,
+        -0.0003071752150536978,
+        -0.6954913354558835
+      ],
+      "yaw_degrees_local": -88.19149137458963,
+      "yaw_radians": -1.5382071260052457,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7527163192173822,
+        8.27975252581918,
+        0.7601873891139062
+      ],
+      "z_min": 0.7411340269477027,
+      "z_max": 0.7601416927921114
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.7473959587889345,
+        8.496713046663366,
+        0.7509363453980107
+      ],
+      "rotation_wxyz": [
+        0.9521554177499643,
+        -0.0005022140060101794,
+        -9.466207481098271e-05,
+        -0.3056138073935386
+      ],
+      "yaw_degrees_local": -35.648906886170806,
+      "yaw_radians": -0.6211658908868293,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7473959587889345,
+        8.496713046663366,
+        0.7609736963788294
+      ],
+      "z_min": 0.7409146529485086,
+      "z_max": 0.760989354910146
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.2390065887696795,
+        8.82548156055408,
+        0.8105639201649266
+      ],
+      "rotation_wxyz": [
+        0.1736927143941584,
+        -0.00015046994754810126,
+        -0.0004884041473259459,
+        -0.9847997663416526
+      ],
+      "yaw_degrees_local": -160.0535254960264,
+      "yaw_radians": -2.7924365211803583,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2390065887696795,
+        8.82548156055408,
+        0.8807402863968454
+      ],
+      "z_min": 0.7403922480247065,
+      "z_max": 0.8807449804885442
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.607933817725038,
+        8.42776171995459,
+        0.808802218807138
+      ],
+      "rotation_wxyz": [
+        0.7753980115006913,
+        -0.0004332208374907952,
+        -0.00027110795304469875,
+        -0.6314726142763103
+      ],
+      "yaw_degrees_local": -78.37642881536632,
+      "yaw_radians": -1.3669018892826272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.607933817725038,
+        8.42776171995459,
+        0.8768575623607239
+      ],
+      "z_min": 0.7407488836848284,
+      "z_max": 0.8768595707920002
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.5426046858662614,
+        8.864405145373137,
+        0.7791854378714489
+      ],
+      "rotation_wxyz": [
+        0.239964337351609,
+        -0.00018318928460264294,
+        -0.0004770969526700883,
+        -0.9707815694684295
+      ],
+      "yaw_degrees_local": -152.28983565098872,
+      "yaw_radians": -2.656934604392001,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5426046858662614,
+        8.864405145373137,
+        0.8181328694064556
+      ],
+      "z_min": 0.7403142879033279,
+      "z_max": 0.8182091509733413
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        4.961083711076154,
+        8.157642947034438,
+        0.9568555796206165
+      ],
+      "rotation_wxyz": [
+        0.9780515201345943,
+        0.0,
+        0.0,
+        0.208363202035315
+      ],
+      "yaw_degrees_local": -65.94710214019956,
+      "yaw_radians": 0.41980226229941525,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.961083711076154,
+        8.157642947034438,
+        0.9934657926897952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9934204550346891
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        1.9147746644580288,
+        8.880031374866078,
+        0.8047531731554873
+      ],
+      "rotation_wxyz": [
+        0.7102319864695286,
+        -0.000315573248082877,
+        0.0004019867427350504,
+        0.7039675164492545
+      ],
+      "yaw_degrees_local": 89.43368744300852,
+      "yaw_radians": 1.5619370579581613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9147746644580288,
+        8.880031374866078,
+        0.8689421272432079
+      ],
+      "z_min": 0.7405047004222209,
+      "z_max": 0.8688826085976619
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.1922295876383533,
+        8.259075111770949,
+        0.8190591493233718
+      ],
+      "rotation_wxyz": [
+        0.8249401586180868,
+        -0.00045414730186653076,
+        -0.00023437159479694386,
+        -0.5652198452985792
+      ],
+      "yaw_degrees_local": -68.89383897460772,
+      "yaw_radians": -1.20139941635134,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1922295876383533,
+        8.259075111770949,
+        0.89705267379387
+      ],
+      "z_min": 0.741099347557612,
+      "z_max": 0.8970863964986084
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        2.83539145162717,
+        8.272895198696478,
+        0.7463011246553083
+      ],
+      "rotation_wxyz": [
+        0.1888243154211665,
+        -3.3544908264951126e-05,
+        0.0005099554444947212,
+        0.9820107518382434
+      ],
+      "yaw_degrees_local": 158.1729256152753,
+      "yaw_radians": 2.7616631574183983,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.83539145162717,
+        8.272895198696478,
+        0.7516507805549582
+      ],
+      "z_min": 0.741003803496015,
+      "z_max": 0.7517031152953147
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        4.825847568297497,
+        8.644276499790166,
+        0.96906559640865
+      ],
+      "rotation_wxyz": [
+        0.9938359915073791,
+        0.0,
+        0.0,
+        -0.11086037156957868
+      ],
+      "yaw_degrees_local": -102.729829168102,
+      "yaw_radians": -0.22217743219979075,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.825847568297497,
+        8.644276499790166,
+        1.0179330609145991
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0179349579082302
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        2.2189556105216846,
+        8.87578756892578,
+        0.7500199652315486
+      ],
+      "rotation_wxyz": [
+        0.844049692931592,
+        -0.0004620037289852316,
+        -0.00021847739160849863,
+        -0.5362647244433194
+      ],
+      "yaw_degrees_local": -64.91816517635782,
+      "yaw_radians": -1.1320108007783867,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2189556105216846,
+        8.87578756892578,
+        0.759523798153753
+      ],
+      "z_min": 0.7404704359875496,
+      "z_max": 0.7594781018319583
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.7270618966532263,
+        8.865671691451455,
+        0.7809798628472776
+      ],
+      "rotation_wxyz": [
+        0.7238944852687454,
+        -0.0004108046500560585,
+        -0.00030400551924698985,
+        -0.6899105108763616
+      ],
+      "yaw_degrees_local": -87.30477557352337,
+      "yaw_radians": -1.5227310080975272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7270618966532263,
+        8.865671691451455,
+        0.8215298719868092
+      ],
+      "z_min": 0.7404163344007126,
+      "z_max": 0.8215163526797756
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5903614297645694,
+        8.24588685871702,
+        0.7409355379142608
+      ],
+      "rotation_wxyz": [
+        0.35467836863486535,
+        -0.00023909507287147544,
+        -0.00045167838377422546,
+        -0.9349882318204302
+      ],
+      "yaw_degrees_local": -138.51123748283945,
+      "yaw_radians": -2.416452714007748,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5903614297645694,
+        8.24588685871702,
+        0.7909356317915763
+      ],
+      "z_min": 0.7409355379142608,
+      "z_max": 0.8409357256688919
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        3.0492480097279024,
+        8.268725849446243,
+        0.7543592237122694
+      ],
+      "rotation_wxyz": [
+        0.9826735099516591,
+        -0.0004865877541390748,
+        0.0001562439559221538,
+        0.18534430571094004
+      ],
+      "yaw_degrees_local": 21.30370605750514,
+      "yaw_radians": 0.3728442847420129,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0492480097279024,
+        8.268725849446243,
+        0.7677636611195067
+      ],
+      "z_min": 0.7409809405398342,
+      "z_max": 0.7677898153543088
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.280220780772773,
+        8.562368839522868,
+        0.7996523085326024
+      ],
+      "rotation_wxyz": [
+        0.8396371585570234,
+        -0.00046020208845558075,
+        -0.0002222472812464405,
+        -0.5431474760969364
+      ],
+      "yaw_degrees_local": -65.85503873854358,
+      "yaw_radians": -1.1483623329129684,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.280220780772773,
+        8.562368839522868,
+        0.8587785865651225
+      ],
+      "z_min": 0.7406538776918963,
+      "z_max": 0.8589064337569365
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        2.037914938044051,
+        8.282291356389758,
+        0.7541073113692796
+      ],
+      "rotation_wxyz": [
+        0.9586904631175192,
+        -0.0005041873523554577,
+        -8.351604615345624e-05,
+        -0.28445093557184997
+      ],
+      "yaw_degrees_local": -33.11077719758404,
+      "yaw_radians": -0.5768671844439238,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.037914938044051,
+        8.282291356389758,
+        0.7670831304790418
+      ],
+      "z_min": 0.7410953188081505,
+      "z_max": 0.7670469570276749
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        3.683219956834733,
+        8.695324350068645,
+        0.7448376002967797
+      ],
+      "rotation_wxyz": [
+        0.0012051471685990932,
+        6.27393400259858e-05,
+        0.0005071918684811659,
+        0.9999991432198759
+      ],
+      "yaw_degrees_local": 179.80318983636693,
+      "yaw_radians": 3.1391822953233537,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.683219956834733,
+        8.695324350068645,
+        0.7492616297653334
+      ],
+      "z_min": 0.7404679409519274,
+      "z_max": 0.7493159998890347
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.8847898372947223,
+        8.426215974145757,
+        0.7885485681206725
+      ],
+      "rotation_wxyz": [
+        0.10148317569623412,
+        -0.00011448721036480091,
+        -0.0004980687652354828,
+        -0.9948371242926106
+      ],
+      "yaw_degrees_local": -168.40953943809384,
+      "yaw_radians": -2.938276423980368,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8847898372947223,
+        8.426215974145757,
+        0.835947493548773
+      ],
+      "z_min": 0.7409687650083728,
+      "z_max": 0.8357666158645738
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        1.7570067830160454,
+        8.857873415340435,
+        0.7523545144053754
+      ],
+      "rotation_wxyz": [
+        0.6893102046915578,
+        -0.00030366488009099936,
+        0.00041105651295123837,
+        0.7244661348387975
+      ],
+      "yaw_degrees_local": 92.79021460601564,
+      "yaw_radians": 1.6205195376968733,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7570067830160454,
+        8.857873415340435,
+        0.764041839358042
+      ],
+      "z_min": 0.7405471357119763,
+      "z_max": 0.7639217856173096
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.4282823917660696,
+        8.796033197512848,
+        0.840655155239417
+      ],
+      "rotation_wxyz": [
+        0.5566712086155905,
+        -0.0002296694808262856,
+        0.0004565432573341731,
+        0.8307327514421479
+      ],
+      "yaw_degrees_local": 112.28947796457385,
+      "yaw_radians": 1.9608460196774071,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4282823917660696,
+        8.796033197512848,
+        0.940872035302067
+      ],
+      "z_min": 0.7403981497611385,
+      "z_max": 0.9408319098864385
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.597055383079269,
+        8.305140643843233,
+        0.7510229914922183
+      ],
+      "rotation_wxyz": [
+        0.9451552453068767,
+        -0.0004586116858232949,
+        0.00022551083758131916,
+        0.3266210358949373
+      ],
+      "yaw_degrees_local": 38.06892258803995,
+      "yaw_radians": 0.6654524707994479,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.597055383079269,
+        8.305140643843233,
+        0.761060342473037
+      ],
+      "z_min": 0.7410012990427162,
+      "z_max": 0.7610760010043536
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.178337747464368,
+        8.701990001524003,
+        0.7464654030580685
+      ],
+      "rotation_wxyz": [
+        0.7626058716970898,
+        -0.0003457504693011423,
+        0.00037634615610944195,
+        0.6468632183648299
+      ],
+      "yaw_degrees_local": 80.55233697436313,
+      "yaw_radians": 1.4069281698420013,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.178337747464368,
+        8.701990001524003,
+        0.7522826158246408
+      ],
+      "z_min": 0.7405251503957588,
+      "z_max": 0.7521595759289035
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.3448131966940107,
+        8.204202241598917,
+        0.7490217008416021
+      ],
+      "rotation_wxyz": [
+        0.14131598528357886,
+        -8.948807491398288e-06,
+        0.0005109791924186292,
+        0.9899644090185845
+      ],
+      "yaw_degrees_local": 163.6932798535537,
+      "yaw_radians": 2.8580114687666063,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3448131966940107,
+        8.204202241598917,
+        0.7568510400264201
+      ],
+      "z_min": 0.7410089312160394,
+      "z_max": 0.7566676095856754
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.273437431943494,
+        8.174361388237681,
+        0.746538402642418
+      ],
+      "rotation_wxyz": [
+        0.9890687649468819,
+        -0.0004922312539583815,
+        0.00013743438022151505,
+        0.1474541183780014
+      ],
+      "yaw_degrees_local": 16.900127195607325,
+      "yaw_radians": 0.29598735911176116,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.273437431943494,
+        8.174361388237681,
+        0.7518738433374188
+      ],
+      "z_min": 0.7411749398956079,
+      "z_max": 0.7518458212856095
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.4652146693437635,
+        8.862194556883933,
+        0.8704042471677067
+      ],
+      "rotation_wxyz": [
+        0.8099922717301661,
+        -0.0004479113190431675,
+        -0.0002460797970442158,
+        -0.5864403282155729
+      ],
+      "yaw_degrees_local": -71.86833704874883,
+      "yaw_radians": -1.253314217425843,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4652146693437635,
+        8.862194556883933,
+        1.0005713966824759
+      ],
+      "z_min": 0.7404530840520704,
+      "z_max": 1.0007873830816088
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        2.3843529210309855,
+        8.33054655560715,
+        0.7479834832003143
+      ],
+      "rotation_wxyz": [
+        0.6716081644894307,
+        -0.00029364639678845393,
+        0.00041827217202853754,
+        0.7409063451012697
+      ],
+      "yaw_degrees_local": 95.55866528532573,
+      "yaw_radians": 1.6688381405041186,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3843529210309855,
+        8.33054655560715,
+        0.7549667640091549
+      ],
+      "z_min": 0.7410024796014325,
+      "z_max": 0.7549690412191137
+    }
+  ],
+  "variant_index": 158
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0159/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0159/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..354f04061e69cf21e18b037501062a6f12b35248
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0159/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 3399833178465623622
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.45717069, -0.000175495919, 0.000479980206, 0.889378828)
+            double3 xformOp:translate = (1.83038120341, 8.26799377604, 0.741136107834)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.344815027, -0.000115395915, 0.000497859015, 0.938670515)
+            double3 xformOp:translate = (3.41766788972, 8.6434795072, 0.740554167122)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.171478796, -0.000149371809, -0.000488741117, -0.985187678)
+            double3 xformOp:translate = (3.23879575236, 8.36575609324, 0.746548310146)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0575299861, 0, 0, 0.998343779)
+            double3 xformOp:translate = (4.87701874357, 8.80305551097, 0.996349555384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.325082916, -0.000104945051, 0.000500166325, 0.945685379)
+            double3 xformOp:translate = (1.82388799311, 8.51892227501, 0.747863438019)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.577837747, -0.0002413271, 0.000450489786, 0.816151504)
+            double3 xformOp:translate = (3.01816369079, 8.22575603717, 0.822939372751)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995640943, -0.000510813964, 1.57768891e-05, -0.093267635)
+            double3 xformOp:translate = (3.00793562678, 8.9103746155, 0.7456988526)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993398218, -0.000496500778, 0.000121106538, 0.114715816)
+            double3 xformOp:translate = (2.60864382065, 8.22848971895, 0.794987629514)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.249029608, -6.49321564e-05, 0.000506915803, 0.968495737)
+            double3 xformOp:translate = (3.53581469024, 8.42741089331, 0.781321891166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.444784617, -0.000282296493, -0.000426014678, -0.895637418)
+            double3 xformOp:translate = (3.16642178147, 8.22961846881, 0.797165700973)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.971177885, -0.00050759974, -5.93491349e-05, -0.238355312)
+            double3 xformOp:translate = (3.67354810689, 8.47108764801, 0.799695053841)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.693859278, -0.000397486499, -0.00032122313, -0.720110437)
+            double3 xformOp:translate = (3.674713276, 8.71158153919, 0.779323698184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0416417525, 4.21783884e-05, 0.000509314048, 0.999132475)
+            double3 xformOp:translate = (3.64357095126, 8.8888687581, 0.779147833549)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.749800735, -0.000338319174, 0.000383040406, 0.661663507)
+            double3 xformOp:translate = (3.19305371048, 8.82196278172, 0.74040160251)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.881391132, -0.000417041538, 0.000295391556, 0.472386929)
+            double3 xformOp:translate = (3.58914315408, 8.32843665298, 0.827239269781)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.280768484, -8.15798856e-05, 0.00050450425, 0.959775389)
+            double3 xformOp:translate = (3.52967035182, 8.60851621372, 0.796735386687)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.95403006, 0, 0, 0.299710935)
+            double3 xformOp:translate = (4.86974166276, 8.11618826551, 0.955166131883)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0695552227, 2.79245436e-05, 0.000510294068, 0.997577972)
+            double3 xformOp:translate = (1.87237586852, 8.86494118049, 0.767124590264)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.495557428, -0.000306329779, -0.000409074422, -0.868575025)
+            double3 xformOp:translate = (3.46926719298, 8.29471865701, 0.805149860203)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997289646, -0.000501080553, 0.00010048928, 0.0735737815)
+            double3 xformOp:translate = (1.76562519746, 8.67706082893, 0.857569064157)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0668415047, -9.71052522e-05, -0.000501747333, -0.997763475)
+            double3 xformOp:translate = (2.60539899173, 8.31212707684, 0.746933406563)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.0834409066, 0, 0, 0.996512727)
+            double3 xformOp:translate = (4.97882273159, 8.2069444313, 0.931220075857)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.647788615, -0.000280242235, 0.000427368818, 0.761819958)
+            double3 xformOp:translate = (2.06011741121, 8.23801391212, 0.761298643627)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.535468159, -0.000325047482, -0.00039436525, -0.844555262)
+            double3 xformOp:translate = (3.66038776553, 8.2671998889, 0.77756061901)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976859683, -0.000508930583, -4.65776583e-05, -0.213880571)
+            double3 xformOp:translate = (3.4509251704, 8.84877465987, 0.774411397048)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99419179, -0.000497352629, 0.000117559255, 0.107621667)
+            double3 xformOp:translate = (2.91363964146, 8.3288931307, 0.822848011107)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.535169507, -0.000217877971, 0.000462286714, 0.84474454)
+            double3 xformOp:translate = (2.31298889686, 8.30647786712, 0.746392659126)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.901019176, -0.000429441068, 0.000277056286, 0.433778958)
+            double3 xformOp:translate = (1.70754721794, 8.81138503228, 0.740600546141)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0358345085, -8.14820988e-05, -0.000504520053, -0.999357607)
+            double3 xformOp:translate = (3.4917861057, 8.72674375218, 0.835333872845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996652542, -0.00050023935, 0.000104596411, 0.0817523686)
+            double3 xformOp:translate = (2.07579078978, 8.93353685305, 0.746370254726)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0159/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0159/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7005a60ff2743108dcbdfe92c6a643db6674048
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0159/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 3399833178465623622,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 5,
+    "office_supplies": 1,
+    "clock": 6,
+    "office_supply": 5,
+    "small object": 3,
+    "small_electronics": 1,
+    "electronics": 4,
+    "small prop": 1,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 163,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.830381203407164,
+        8.267993776035356,
+        0.7411361078339641
+      ],
+      "rotation_wxyz": [
+        0.4571706899116073,
+        -0.00017549591932473508,
+        0.0004799802064050961,
+        0.8893788276690249
+      ],
+      "yaw_degrees_local": 125.53190699466523,
+      "yaw_radians": 2.1919700438324314,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.830381203407164,
+        8.267993776035356,
+        0.8911361137944286
+      ],
+      "z_min": 0.7411361078339641,
+      "z_max": 1.041136119754893
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.417667889716477,
+        8.643479507196535,
+        0.7405541671216973
+      ],
+      "rotation_wxyz": [
+        0.344815027272638,
+        -0.00011539591483426244,
+        0.0004978590152642375,
+        0.9386705150302496
+      ],
+      "yaw_degrees_local": 139.6002745710257,
+      "yaw_radians": 2.4375093574835334,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.417667889716477,
+        8.643479507196535,
+        0.7905542609990128
+      ],
+      "z_min": 0.7405541671216973,
+      "z_max": 0.8405543548763283
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.2387957523620896,
+        8.365756093237717,
+        0.7465483101462077
+      ],
+      "rotation_wxyz": [
+        0.1714787961813332,
+        -0.0001493718087237926,
+        -0.0004887411165421786,
+        -0.9851876782016636
+      ],
+      "yaw_degrees_local": -160.31108676471615,
+      "yaw_radians": -2.796931811964206,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2387957523620896,
+        8.365756093237717,
+        0.7523793611709939
+      ],
+      "z_min": 0.740858509416883,
+      "z_max": 0.7525206114664554
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        4.8770187435710834,
+        8.803055510967774,
+        0.9963495553835341
+      ],
+      "rotation_wxyz": [
+        -0.05752998613227672,
+        0.0,
+        0.0,
+        0.9983437788135008
+      ],
+      "yaw_degrees_local": 96.59609273339947,
+      "yaw_radians": -3.0264691176251,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8770187435710834,
+        8.803055510967774,
+        1.0725354939056202
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0725719059405041
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.8238879931133798,
+        8.51892227500903,
+        0.7478634380185817
+      ],
+      "rotation_wxyz": [
+        0.32508291555704716,
+        -0.00010494505066069754,
+        0.0005001663249181578,
+        0.9456853794117331
+      ],
+      "yaw_degrees_local": 142.00008748284614,
+      "yaw_radians": 2.479393984652435,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8238879931133798,
+        8.51892227500903,
+        0.7548467188274223
+      ],
+      "z_min": 0.7408824344196998,
+      "z_max": 0.7548489960373811
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.018163690792086,
+        8.22575603717424,
+        0.822939372751339
+      ],
+      "rotation_wxyz": [
+        0.5778377465862244,
+        -0.00024132709992387826,
+        0.0004504897857694923,
+        0.8161515039748063
+      ],
+      "yaw_degrees_local": 109.34406994676931,
+      "yaw_radians": 1.909438936939719,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.018163690792086,
+        8.22575603717424,
+        0.9048753817921579
+      ],
+      "z_min": 0.7410284961228117,
+      "z_max": 0.9049005142044495
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.0079356267765607,
+        8.91037461550001,
+        0.7456988526001247
+      ],
+      "rotation_wxyz": [
+        0.9956409428472781,
+        -0.0005108139641894278,
+        1.5776889091157975e-05,
+        -0.09326763504221254
+      ],
+      "yaw_degrees_local": -10.761951594492757,
+      "yaw_radians": -0.1868067665660274,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0079356267765607,
+        8.91037461550001,
+        0.7510342932951255
+      ],
+      "z_min": 0.7403353898533146,
+      "z_max": 0.7510062712433162
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.6086438206547373,
+        8.22848971894891,
+        0.7949876295144811
+      ],
+      "rotation_wxyz": [
+        0.9933982183968549,
+        -0.0004965007781207751,
+        0.00012110653808022673,
+        0.11471581628589199
+      ],
+      "yaw_degrees_local": 13.115759397719302,
+      "yaw_radians": 0.22993770557542662,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6086438206547373,
+        8.22848971894891,
+        0.8489078318078793
+      ],
+      "z_min": 0.7410775955346549,
+      "z_max": 0.8489180001214512
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.535814690240448,
+        8.427410893310697,
+        0.7813218911657472
+      ],
+      "rotation_wxyz": [
+        0.24902960811880312,
+        -6.493215636282683e-05,
+        0.0005069158029795342,
+        0.9684957372649501
+      ],
+      "yaw_degrees_local": 151.1010920674159,
+      "yaw_radians": 2.638236429639502,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.535814690240448,
+        8.427410893310697,
+        0.8218719003052788
+      ],
+      "z_min": 0.7407583627191823,
+      "z_max": 0.8218583809982453
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.1664217814699644,
+        8.229618468805743,
+        0.7971657009728655
+      ],
+      "rotation_wxyz": [
+        0.4447846165473493,
+        -0.0002822964934667557,
+        -0.00042601467817046694,
+        -0.8956374175429538
+      ],
+      "yaw_degrees_local": -127.23958414799085,
+      "yaw_radians": -2.2197252185917615,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1664217814699644,
+        8.229618468805743,
+        0.8533479807827582
+      ],
+      "z_min": 0.7410057808029014,
+      "z_max": 0.8533703404226867
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.673548106891604,
+        8.471087648010679,
+        0.7996950538413137
+      ],
+      "rotation_wxyz": [
+        0.9711778848958551,
+        -0.0005075997403712774,
+        -5.934913491639429e-05,
+        -0.23835531189675047
+      ],
+      "yaw_degrees_local": -27.63769379430991,
+      "yaw_radians": -0.48134389318504334,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.673548106891604,
+        8.471087648010679,
+        0.8588213318738338
+      ],
+      "z_min": 0.7406966230006076,
+      "z_max": 0.8589491790656478
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.674713276003259,
+        8.711581539189634,
+        0.779323698183916
+      ],
+      "rotation_wxyz": [
+        0.6938592776449114,
+        -0.00039748649876700774,
+        -0.0003212231304533628,
+        -0.7201104371179923
+      ],
+      "yaw_degrees_local": -92.1859241156397,
+      "yaw_radians": -1.6079231643953833,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.674713276003259,
+        8.711581539189634,
+        0.8182711297189227
+      ],
+      "z_min": 0.740452548215795,
+      "z_max": 0.8183474112858085
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.6435709512563386,
+        8.888868758103214,
+        0.7791478335492941
+      ],
+      "rotation_wxyz": [
+        0.04164175245593309,
+        4.217838838704219e-05,
+        0.0005093140482976927,
+        0.9991324753367707
+      ],
+      "yaw_degrees_local": 175.16811546876767,
+      "yaw_radians": 3.058285028186938,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6435709512563386,
+        8.888868758103214,
+        0.8180952650843007
+      ],
+      "z_min": 0.740276683581173,
+      "z_max": 0.8181715466511865
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.193053710480676,
+        8.821962781718941,
+        0.7404016025097238
+      ],
+      "rotation_wxyz": [
+        0.7498007349768505,
+        -0.00033831917380976526,
+        0.0003830404063189554,
+        0.6616635071154814
+      ],
+      "yaw_degrees_local": 82.79503284632932,
+      "yaw_radians": 1.4460706173535312,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.193053710480676,
+        8.821962781718941,
+        0.8904016084701882
+      ],
+      "z_min": 0.7404016025097238,
+      "z_max": 1.0404016144306527
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.589143154081972,
+        8.328436652976976,
+        0.8272392697811809
+      ],
+      "rotation_wxyz": [
+        0.8813911324900071,
+        -0.0004170415382230092,
+        0.00029539155647529774,
+        0.4723869286804691
+      ],
+      "yaw_degrees_local": 56.31999584769375,
+      "yaw_radians": 0.9839938437822614,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.589143154081972,
+        8.328436652976976,
+        0.9136385487394476
+      ],
+      "z_min": 0.74085201273882,
+      "z_max": 0.9136505706553533
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.5296703518238646,
+        8.608516213723911,
+        0.7967353866871807
+      ],
+      "rotation_wxyz": [
+        0.28076848414354644,
+        -8.157988563813794e-05,
+        0.0005045042502294514,
+        0.9597753888967561
+      ],
+      "yaw_degrees_local": 147.3291340278584,
+      "yaw_radians": 2.572403365945451,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5296703518238646,
+        8.608516213723911,
+        0.8529176664970733
+      ],
+      "z_min": 0.7405754665172165,
+      "z_max": 0.8529400261370018
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        4.869741662760617,
+        8.116188265511482,
+        0.9551661318832627
+      ],
+      "rotation_wxyz": [
+        0.9540300600427437,
+        0.0,
+        0.0,
+        0.2997109349604029
+      ],
+      "yaw_degrees_local": -55.11951591916829,
+      "yaw_radians": 0.6087792918999811,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.869741662760617,
+        8.116188265511482,
+        0.990279206226448
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9904261775827026
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.8723758685168403,
+        8.864941180486879,
+        0.7671245902640854
+      ],
+      "rotation_wxyz": [
+        0.06955522272059757,
+        2.792454357737054e-05,
+        0.0005102940682648664,
+        0.9975779717959254
+      ],
+      "yaw_degrees_local": 171.96440635722945,
+      "yaw_radians": 3.0023697850972293,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8723758685168403,
+        8.864941180486879,
+        0.7936990749201595
+      ],
+      "z_min": 0.7405253576914197,
+      "z_max": 0.7936743270035677
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.469267192975977,
+        8.294718657008419,
+        0.8051498602027242
+      ],
+      "rotation_wxyz": [
+        0.49555742776462874,
+        -0.0003063297789179803,
+        -0.0004090744220656847,
+        -0.8685750253187625
+      ],
+      "yaw_degrees_local": -120.64567293568567,
+      "yaw_radians": -2.1046397216956567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.469267192975977,
+        8.294718657008419,
+        0.8693388142904447
+      ],
+      "z_min": 0.7409013874694577,
+      "z_max": 0.8692792956448987
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        1.7656251974568833,
+        8.67706082892541,
+        0.8575690641573023
+      ],
+      "rotation_wxyz": [
+        0.9972896457396206,
+        -0.0005010805532913979,
+        0.00010048927979391181,
+        0.07357378147632454
+      ],
+      "yaw_degrees_local": 8.379849845783127,
+      "yaw_radians": 0.14728052577280085,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7656251974568833,
+        8.67706082892541,
+        0.9744278828332746
+      ],
+      "z_min": 0.7407294845570377,
+      "z_max": 0.9744471219089825
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.605398991725243,
+        8.312127076836015,
+        0.7469334065633352
+      ],
+      "rotation_wxyz": [
+        0.06684150471063498,
+        -9.71052521662228e-05,
+        -0.0005017473330691923,
+        -0.9977634750120903
+      ],
+      "yaw_degrees_local": -172.39352220543736,
+      "yaw_radians": -3.007810010369091,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.605398991725243,
+        8.312127076836015,
+        0.7527506193299075
+      ],
+      "z_min": 0.7409931539010255,
+      "z_max": 0.7526275794341701
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        4.97882273159367,
+        8.206944431297643,
+        0.9312200758573363
+      ],
+      "rotation_wxyz": [
+        -0.08344090656755038,
+        0.0,
+        0.0,
+        0.9965127270191714
+      ],
+      "yaw_degrees_local": 99.5727537611292,
+      "yaw_radians": -2.9745165819754176,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.97882273159367,
+        8.206944431297643,
+        0.9420994960604726
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9419588693026043
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        2.0601174112124214,
+        8.238013912118939,
+        0.7612986436269435
+      ],
+      "rotation_wxyz": [
+        0.6477886152681679,
+        -0.0002802422345466168,
+        0.00042736881755297916,
+        0.7618199582244701
+      ],
+      "yaw_degrees_local": 99.19111746386642,
+      "yaw_radians": 1.7322364198555595,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0601174112124214,
+        8.238013912118939,
+        0.7813292733115521
+      ],
+      "z_min": 0.7411374170731087,
+      "z_max": 0.7811986764423258
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.6603877655303965,
+        8.26719988889871,
+        0.7775606190097276
+      ],
+      "rotation_wxyz": [
+        0.5354681586350616,
+        -0.0003250474822777894,
+        -0.0003943652501237689,
+        -0.8445552616070545
+      ],
+      "yaw_degrees_local": -115.30736823263148,
+      "yaw_radians": -2.011468691807638,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6603877655303965,
+        8.26719988889871,
+        0.8141708320789063
+      ],
+      "z_min": 0.7409050682854429,
+      "z_max": 0.8141254944238002
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.4509251703990826,
+        8.848774659866674,
+        0.7744113970475166
+      ],
+      "rotation_wxyz": [
+        0.9768596829433944,
+        -0.0005089305826807914,
+        -4.6577658297758154e-05,
+        -0.2138805710201722
+      ],
+      "yaw_degrees_local": -24.758436015631645,
+      "yaw_radians": -0.4310913855994125,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4509251703990826,
+        8.848774659866674,
+        0.8084099532181954
+      ],
+      "z_min": 0.7403417542338908,
+      "z_max": 0.8083388665752484
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.913639641458761,
+        8.328893130698878,
+        0.8228480111065662
+      ],
+      "rotation_wxyz": [
+        0.9941917901668639,
+        -0.0004973526292485813,
+        0.00011755925493059166,
+        0.1076216668937565
+      ],
+      "yaw_degrees_local": 12.297757512753265,
+      "yaw_radians": 0.21566088512694281,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.913639641458761,
+        8.328893130698878,
+        0.9047840201473851
+      ],
+      "z_min": 0.7409371344780391,
+      "z_max": 0.9048091525596766
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        2.3129888968603036,
+        8.306477867120027,
+        0.7463926591264061
+      ],
+      "rotation_wxyz": [
+        0.5351695073902989,
+        -0.00021787797065131825,
+        0.00046228671422092146,
+        0.8447445395975097
+      ],
+      "yaw_degrees_local": 115.23046466801958,
+      "yaw_radians": 2.0121759335422245,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3129888968603036,
+        8.306477867120027,
+        0.751707780626487
+      ],
+      "z_min": 0.7410359318931264,
+      "z_max": 0.7516661748932882
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7075472179405082,
+        8.811385032276164,
+        0.7406005461405635
+      ],
+      "rotation_wxyz": [
+        0.9010191755388282,
+        -0.0004294410679949973,
+        0.0002770562855443434,
+        0.43377895768641694
+      ],
+      "yaw_degrees_local": 51.3565417472723,
+      "yaw_radians": 0.8973652034851172,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7075472179405082,
+        8.811385032276164,
+        0.790600640017879
+      ],
+      "z_min": 0.7406005461405635,
+      "z_max": 0.8406007338951945
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.4917861057032358,
+        8.726743752181235,
+        0.8353338728447253
+      ],
+      "rotation_wxyz": [
+        0.03583450853916122,
+        -8.148209878543643e-05,
+        -0.0005045200529392593,
+        -0.9993576070746352
+      ],
+      "yaw_degrees_local": -175.9514983422691,
+      "yaw_radians": -3.069908379531532,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4917861057032358,
+        8.726743752181235,
+        0.9302307189089288
+      ],
+      "z_min": 0.7404603765423106,
+      "z_max": 0.9302540686707178
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.075790789784059,
+        8.933536853045867,
+        0.7463702547255345
+      ],
+      "rotation_wxyz": [
+        0.9966525417894874,
+        -0.0005002393497745292,
+        0.00010459641092058993,
+        0.08175236855735876
+      ],
+      "yaw_degrees_local": 9.319888924482768,
+      "yaw_radians": 0.16368729553051745,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.075790789784059,
+        8.933536853045867,
+        0.7521874674921069
+      ],
+      "z_min": 0.7404300020632248,
+      "z_max": 0.7520644275963695
+    }
+  ],
+  "variant_index": 159
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0164/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0164/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..a3fd4f53e663cb79f1c23d9ddc1399c0b1687940
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0164/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6479754046850735740
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.721930006, -0.000322265809, 0.000396641607, 0.691965899)
+            double3 xformOp:translate = (2.24153370805, 8.2750403599, 0.741076867479)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.876937388, -0.000414262394, 0.000299276602, 0.480604365)
+            double3 xformOp:translate = (1.9511873728, 8.66861708689, 0.740714473509)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.695454626, -0.000398197927, -0.000320340798, -0.718569831)
+            double3 xformOp:translate = (1.75149747663, 8.21622027112, 0.827585915013)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.367154587, -0.000127263821, 0.000494958318, 0.930159797)
+            double3 xformOp:translate = (1.74272723317, 8.5018445705, 0.767509281157)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.826399931, -0.000383408953, 0.000337901451, 0.56308338)
+            double3 xformOp:translate = (1.94992493441, 8.55271186627, 0.796992140766)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.648992492, -0.000280917694, 0.000426925128, 0.76079464)
+            double3 xformOp:translate = (3.44270642539, 8.72825044195, 0.808518387972)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.41236468, -0.00026683024, -0.000435868603, -0.911018721)
+            double3 xformOp:translate = (3.46171649938, 8.35574951796, 0.740536714739)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999764497, -0.000508370944, 5.23335422e-05, -0.0216953973)
+            double3 xformOp:translate = (1.75628914129, 8.36339484865, 0.746405466575)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.929443245, -0.000447961382, 0.000245988651, 0.368964758)
+            double3 xformOp:translate = (2.66418874579, 8.87410422327, 0.746355982531)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99996146, -0.00050654117, 6.77927681e-05, 0.00876459502)
+            double3 xformOp:translate = (2.05021449172, 8.21542666137, 0.819871181147)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.73911495, -0.000332145381, 0.000388406053, 0.673579119)
+            double3 xformOp:translate = (1.75427130908, 8.66679157924, 0.745994427892)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.298451591, -9.08862443e-05, 0.000502911033, 0.954424637)
+            double3 xformOp:translate = (1.84926770449, 8.55899216403, 0.774908235575)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.364614742, -0.000125912567, 0.000495303787, 0.931158326)
+            double3 xformOp:translate = (3.11598799585, 8.27310471667, 0.752211135265)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0641272586, 3.07001867e-05, 0.000510134605, 0.997941598)
+            double3 xformOp:translate = (3.49968069362, 8.82936056285, 0.840612307308)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.193117456, -0.000160090946, -0.000485335663, -0.981175513)
+            double3 xformOp:translate = (1.71436587001, 8.82787590877, 0.796742906138)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94995755, 0, 0, 0.312379023)
+            double3 xformOp:translate = (4.89228903783, 8.11902624355, 1.02041951546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.52642138, -0.000213094551, 0.000464511064, 0.850223658)
+            double3 xformOp:translate = (2.83255518292, 8.26893119735, 0.744356861827)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.84411287, -0.000394096744, 0.000325372975, 0.536165275)
+            double3 xformOp:translate = (2.64598426992, 8.28561483427, 0.746955153933)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.576816761, -0.000240763609, 0.000450791194, 0.816873407)
+            double3 xformOp:translate = (1.86260558457, 8.26466071388, 0.813907662283)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.143324776, -9.98579524e-06, 0.000510959979, 0.989675577)
+            double3 xformOp:translate = (3.43858559534, 8.57534896704, 0.813392873826)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.710453887, -0.00040486504, -0.000311871954, -0.70374357)
+            double3 xformOp:translate = (3.16615680085, 8.41147772324, 0.746074487946)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.852772632, -0.000399367755, 0.000318881189, 0.522282085)
+            double3 xformOp:translate = (3.66667348592, 8.4849753883, 0.771275394525)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.638374606, -0.000274967409, 0.000430781546, 0.769725666)
+            double3 xformOp:translate = (3.16407641943, 8.6356121744, 0.870545507744)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.516572214, -0.000207718523, 0.000466939859, 0.856243474)
+            double3 xformOp:translate = (1.98786250947, 8.8591167992, 0.774586279395)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886486378, -0.00047886713, -0.000178510749, -0.462754406)
+            double3 xformOp:translate = (3.23340850868, 8.31475144041, 0.745231192384)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.477798798, 0, 0, 0.878469299)
+            double3 xformOp:translate = (4.96133947075, 8.34587853036, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.90866609, -0.000487249399, -0.000154168218, -0.417523264)
+            double3 xformOp:translate = (2.04138799111, 8.7589317004, 0.882246385221)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.592192396, -0.000249262571, 0.000446147943, 0.805796441)
+            double3 xformOp:translate = (3.57274750952, 8.69502091385, 0.787059167069)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993655171, -0.000496773458, 0.000119983114, 0.112468397)
+            double3 xformOp:translate = (1.88693267684, 8.39123158447, 0.767603197415)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.768089769, -0.000348944565, 0.000373386538, 0.640341975)
+            double3 xformOp:translate = (3.71396263496, 8.75076665478, 0.740407812168)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0164/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0164/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d36c7bc22fe7d3a4f412b1a97c54ccd0dcbbd504
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0164/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6479754046850735740,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 5,
+    "small prop": 1,
+    "electronics": 5,
+    "office_supply": 4,
+    "timepiece": 1,
+    "writing_instrument": 2,
+    "small object": 6,
+    "drinkware/container": 1,
+    "paper_object": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 166,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.2415337080463313,
+        8.275040359899183,
+        0.741076867478869
+      ],
+      "rotation_wxyz": [
+        0.721930005718717,
+        -0.00032226580927776364,
+        0.0003966416070092253,
+        0.6919658992054142
+      ],
+      "yaw_degrees_local": 87.51316190707388,
+      "yaw_radians": 1.5284175468212091,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2415337080463313,
+        8.275040359899183,
+        0.8910768734393335
+      ],
+      "z_min": 0.741076867478869,
+      "z_max": 1.041076879399798
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.9511873727950368,
+        8.6686170868919,
+        0.7407144735091356
+      ],
+      "rotation_wxyz": [
+        0.8769373884240454,
+        -0.00041426239448728294,
+        0.00029927660241651935,
+        0.4806043649450128
+      ],
+      "yaw_degrees_local": 57.391060743840825,
+      "yaw_radians": 1.002687458743388,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9511873727950368,
+        8.6686170868919,
+        0.7632114852229186
+      ],
+      "z_min": 0.7407144765040701,
+      "z_max": 0.7857084999316362
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        1.7514974766339746,
+        8.21622027111557,
+        0.8275859150127545
+      ],
+      "rotation_wxyz": [
+        0.6954546262816941,
+        -0.0003981979272628363,
+        -0.0003203407981570464,
+        -0.7185698307078954
+      ],
+      "yaw_degrees_local": -91.93178368341826,
+      "yaw_radians": -1.6034875748106256,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7514974766339746,
+        8.21622027111557,
+        0.9139851939710212
+      ],
+      "z_min": 0.7411986579703935,
+      "z_max": 0.9139972158869268
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.7427272331696684,
+        8.501844570500259,
+        0.7675092811567891
+      ],
+      "rotation_wxyz": [
+        0.36715458687826674,
+        -0.000127263820573029,
+        0.0004949583176525762,
+        0.9301597971071601
+      ],
+      "yaw_degrees_local": 136.86080376340453,
+      "yaw_radians": 2.3896965810019584,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7427272331696684,
+        8.501844570500259,
+        0.7940837658128631
+      ],
+      "z_min": 0.7409100485841233,
+      "z_max": 0.7940590178962713
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.9499249344117469,
+        8.552711866265401,
+        0.7969921407663693
+      ],
+      "rotation_wxyz": [
+        0.8263999312843104,
+        -0.0003834089531641607,
+        0.00033790145142315546,
+        0.5630833796104011
+      ],
+      "yaw_degrees_local": 68.47990647392984,
+      "yaw_radians": 1.1962244041988717,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9499249344117469,
+        8.552711866265401,
+        0.8531744205762619
+      ],
+      "z_min": 0.7408322205964051,
+      "z_max": 0.8531967802161904
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        3.442706425386379,
+        8.728250441947933,
+        0.8085183879720864
+      ],
+      "rotation_wxyz": [
+        0.6489924924486636,
+        -0.00028091769436976047,
+        0.0004269251283659589,
+        0.7607946395483182
+      ],
+      "yaw_degrees_local": 99.00991056562248,
+      "yaw_radians": 1.729073761461486,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.442706425386379,
+        8.728250441947933,
+        0.8765737315256723
+      ],
+      "z_min": 0.7404650528497769,
+      "z_max": 0.8765757399569486
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.461716499382402,
+        8.355749517962835,
+        0.740536714738517
+      ],
+      "rotation_wxyz": [
+        0.4123646803246011,
+        -0.00026683024041734024,
+        -0.00043586860295178063,
+        -0.9110187205765716
+      ],
+      "yaw_degrees_local": -131.3517693824913,
+      "yaw_radians": -2.291496406669484,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.461716499382402,
+        8.355749517962835,
+        0.7493487821430228
+      ],
+      "z_min": 0.7408404109683381,
+      "z_max": 0.7584645457773497
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        1.7562891412876118,
+        8.36339484865097,
+        0.7464054665750648
+      ],
+      "rotation_wxyz": [
+        0.9997644965474278,
+        -0.0005083709438942826,
+        5.233354224920012e-05,
+        -0.021695397287263735
+      ],
+      "yaw_degrees_local": -2.5450152154101318,
+      "yaw_radians": -0.04339424696797803,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7562891412876118,
+        8.36339484865097,
+        0.7517205880751457
+      ],
+      "z_min": 0.7410487393417852,
+      "z_max": 0.751678982341947
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.6641887457904145,
+        8.87410422327413,
+        0.7463559825307584
+      ],
+      "rotation_wxyz": [
+        0.9294432451939969,
+        -0.000447961382033774,
+        0.0002459886510526528,
+        0.36896475818624713
+      ],
+      "yaw_degrees_local": 43.24486632882102,
+      "yaw_radians": 0.7557897356319959,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6641887457904145,
+        8.87410422327413,
+        0.7521731952973307
+      ],
+      "z_min": 0.7404157298684487,
+      "z_max": 0.7520501554015934
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        2.0502144917181773,
+        8.21542666136509,
+        0.8198711811465493
+      ],
+      "rotation_wxyz": [
+        0.999961459604436,
+        -0.0005065411699303591,
+        6.779276809436074e-05,
+        0.008764595024861566
+      ],
+      "yaw_degrees_local": 0.9456511791715343,
+      "yaw_radians": 0.017529343687210007,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0502144917181773,
+        8.21542666136509,
+        0.8985818439711712
+      ],
+      "z_min": 0.7411616110839242,
+      "z_max": 0.8985829367331681
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.7542713090837538,
+        8.666791579239202,
+        0.7459944278916881
+      ],
+      "rotation_wxyz": [
+        0.7391149504016259,
+        -0.0003321453814858638,
+        0.00038840605273080203,
+        0.6735791185250519
+      ],
+      "yaw_degrees_local": 84.62911835243824,
+      "yaw_radians": 1.4780814649084635,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7542713090837538,
+        8.666791579239202,
+        0.7512303432098216
+      ],
+      "z_min": 0.740741280222607,
+      "z_max": 0.751213110858874
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.8492677044883346,
+        8.558992164028423,
+        0.7749082355746902
+      ],
+      "rotation_wxyz": [
+        0.2984515907980961,
+        -9.088624425148348e-05,
+        0.0005029110327345904,
+        0.9544246365063456
+      ],
+      "yaw_degrees_local": 145.2120333122508,
+      "yaw_radians": 2.5354529994480677,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8492677044883346,
+        8.558992164028423,
+        0.8089067917453691
+      ],
+      "z_min": 0.7408385927610645,
+      "z_max": 0.8088357051024221
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.1159879958494963,
+        8.273104716672737,
+        0.7522111352653859
+      ],
+      "rotation_wxyz": [
+        0.36461474213565204,
+        -0.00012591256741045805,
+        0.0004953037871936974,
+        0.9311583262998488
+      ],
+      "yaw_degrees_local": 137.17353331182693,
+      "yaw_radians": 2.3951547403905784,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1159879958494963,
+        8.273104716672737,
+        0.763444134489298
+      ],
+      "z_min": 0.7409680422054367,
+      "z_max": 0.763434040653261
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.499680693619479,
+        8.829360562847775,
+        0.8406123073082665
+      ],
+      "rotation_wxyz": [
+        0.06412725858325737,
+        3.070018673515446e-05,
+        0.0005101346045650493,
+        0.9979415982545171
+      ],
+      "yaw_degrees_local": 172.58780023234897,
+      "yaw_radians": 3.013250055072553,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.499680693619479,
+        8.829360562847775,
+        0.9408291873709165
+      ],
+      "z_min": 0.740355301829988,
+      "z_max": 0.940789061955288
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.7143658700083135,
+        8.827875908769133,
+        0.7967429061377892
+      ],
+      "rotation_wxyz": [
+        0.1931174561825838,
+        -0.00016009094562324105,
+        -0.00048533566257773507,
+        -0.9811755128098907
+      ],
+      "yaw_degrees_local": -157.7891643524223,
+      "yaw_radians": -2.7529159751566024,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7143658700083135,
+        8.827875908769133,
+        0.8529251859476819
+      ],
+      "z_min": 0.740582985967825,
+      "z_max": 0.8529475455876103
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        4.892289037829523,
+        8.119026243549827,
+        1.0204195154605271
+      ],
+      "rotation_wxyz": [
+        0.9499575495764185,
+        0.0,
+        0.0,
+        0.3123790229877261
+      ],
+      "yaw_degrees_local": -53.594679802237934,
+      "yaw_radians": 0.6353927026937412,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.892289037829523,
+        8.119026243549827,
+        1.1205082165525402
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.1203774310803578
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e",
+      "asset_source": "sceneforge_base",
+      "category": "paper_object",
+      "asset_usd": "assets/small_056_cafe_asset_000176_obj_002_folded_paper_menu_4c09b28e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19845195335365562,
+        0.14869390515001082,
+        0.00659895420068359
+      ],
+      "bbox_min_m": [
+        -0.09910663093709025,
+        -0.07411959395976447,
+        -0.0033486795732065883
+      ],
+      "bbox_max_m": [
+        0.09934532241656534,
+        0.07457431119024631,
+        0.0032502746274769884
+      ],
+      "translation_world": [
+        2.8325551829166282,
+        8.268931197351066,
+        0.7443568618274685
+      ],
+      "rotation_wxyz": [
+        0.5264213803422592,
+        -0.0002130945506892398,
+        0.0004645110641382653,
+        0.8502236583033517
+      ],
+      "yaw_degrees_local": 116.4133218060781,
+      "yaw_radians": 2.0328206895675502,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8325551829166282,
+        8.268931197351066,
+        0.7476563389278104
+      ],
+      "z_min": 0.7410081822542619,
+      "z_max": 0.7476071364549455
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.6459842699169425,
+        8.285614834266873,
+        0.746955153932624
+      ],
+      "rotation_wxyz": [
+        0.8441128699358817,
+        -0.00039409674357646746,
+        0.00032537297512660245,
+        0.5361652745458189
+      ],
+      "yaw_degrees_local": 64.78724312765362,
+      "yaw_radians": 1.1317752422253176,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6459842699169425,
+        8.285614834266873,
+        0.7527723666991963
+      ],
+      "z_min": 0.7410149012703143,
+      "z_max": 0.752649326803459
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.8626055845670884,
+        8.26466071388228,
+        0.813907662282817
+      ],
+      "rotation_wxyz": [
+        0.5768167607939214,
+        -0.00024076360877971933,
+        0.0004507911943768188,
+        0.8168734071368661
+      ],
+      "yaw_degrees_local": 109.48735782638863,
+      "yaw_radians": 1.9119397829999845,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8626055845670884,
+        8.26466071388228,
+        0.8867701068895607
+      ],
+      "z_min": 0.7411354434809405,
+      "z_max": 0.8868603326944279
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.4385855953371127,
+        8.5753489670443,
+        0.8133928738262088
+      ],
+      "rotation_wxyz": [
+        0.14332477648304384,
+        -9.98579524101626e-06,
+        0.0005109599789941646,
+        0.9896755767756773
+      ],
+      "yaw_degrees_local": 163.4607219764144,
+      "yaw_radians": 2.8539525701198634,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4385855953371127,
+        8.5753489670443,
+        0.8862553184329526
+      ],
+      "z_min": 0.7406206550243324,
+      "z_max": 0.8863455442378197
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        3.166156800848543,
+        8.411477723237537,
+        0.7460744879460688
+      ],
+      "rotation_wxyz": [
+        0.7104538873412923,
+        -0.000404865040222591,
+        -0.0003118719536057584,
+        -0.7037435703307208
+      ],
+      "yaw_degrees_local": -89.51498159776901,
+      "yaw_radians": -1.561306399576743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.166156800848543,
+        8.411477723237537,
+        0.7513104032642023
+      ],
+      "z_min": 0.7408213402769876,
+      "z_max": 0.7512931709132546
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.6666734859169603,
+        8.48497538830166,
+        0.7712753945247088
+      ],
+      "rotation_wxyz": [
+        0.8527726322411732,
+        -0.0003993677548115611,
+        0.00031888118893576246,
+        0.5222820851997939
+      ],
+      "yaw_degrees_local": 62.912206993976866,
+      "yaw_radians": 1.0990496746198481,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6666734859169603,
+        8.48497538830166,
+        0.8018777960301016
+      ],
+      "z_min": 0.7406833937913333,
+      "z_max": 0.8018881968021189
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.164076419428435,
+        8.635612174402965,
+        0.8705455077440937
+      ],
+      "rotation_wxyz": [
+        0.6383746057377082,
+        -0.0002749674091883306,
+        0.0004307815457103168,
+        0.769725666435393
+      ],
+      "yaw_degrees_local": 100.59982827940178,
+      "yaw_radians": 1.7568230724226221,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.164076419428435,
+        8.635612174402965,
+        1.000712657258863
+      ],
+      "z_min": 0.7405943446284575,
+      "z_max": 1.0009286436579958
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.9878625094654612,
+        8.859116799196405,
+        0.774586279395405
+      ],
+      "rotation_wxyz": [
+        0.516572214495859,
+        -0.00020771852296299742,
+        0.000466939858502552,
+        0.8562434735698884
+      ],
+      "yaw_degrees_local": 117.73607653862166,
+      "yaw_radians": 2.055907119264566,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9878625094654612,
+        8.859116799196405,
+        0.8085848355660838
+      ],
+      "z_min": 0.7405166365817792,
+      "z_max": 0.8085137489231369
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.2334085086753133,
+        8.314751440405734,
+        0.7452311923838719
+      ],
+      "rotation_wxyz": [
+        0.88648637785894,
+        -0.0004788671304322681,
+        -0.00017851074934546044,
+        -0.4627544064519761
+      ],
+      "yaw_degrees_local": -55.18869350249375,
+      "yaw_radians": -0.9621994616308894,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2334085086753133,
+        8.314751440405734,
+        0.749367793743999
+      ],
+      "z_min": 0.7409109218314045,
+      "z_max": 0.7491841245516586
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.961339470754944,
+        8.345878530359334,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        0.4777987978884302,
+        0.0,
+        0.0,
+        0.8784692986874221
+      ],
+      "yaw_degrees_local": 32.91652708857782,
+      "yaw_radians": 2.145298102812483,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.961339470754944,
+        8.345878530359334,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.0413879911092634,
+        8.758931700400122,
+        0.8822463852210559
+      ],
+      "rotation_wxyz": [
+        0.9086660900596591,
+        -0.0004872493989000248,
+        -0.00015416821822891112,
+        -0.4175232635385431
+      ],
+      "yaw_degrees_local": -49.41535574093203,
+      "yaw_radians": -0.8614357086370034,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0413879911092634,
+        8.758931700400122,
+        1.0238071724168074
+      ],
+      "z_min": 0.7406115219819354,
+      "z_max": 1.0237330963734383
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.5727475095215904,
+        8.695020913851348,
+        0.7870591670692813
+      ],
+      "rotation_wxyz": [
+        0.5921923962406096,
+        -0.0002492625706661159,
+        0.0004461479430695968,
+        0.8057964412027325
+      ],
+      "yaw_degrees_local": 107.31579432567912,
+      "yaw_radians": 1.874038837583742,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5727475095215904,
+        8.695020913851348,
+        0.8334263352051662
+      ],
+      "z_min": 0.7404822677369224,
+      "z_max": 0.8332166040086922
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.8869326768405041,
+        8.391231584472147,
+        0.7676031974151712
+      ],
+      "rotation_wxyz": [
+        0.9936551708077153,
+        -0.0004967734580152896,
+        0.00011998311402794939,
+        0.11246839710458362
+      ],
+      "yaw_degrees_local": 12.856546274050913,
+      "yaw_radians": 0.2254135849045507,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8869326768405041,
+        8.391231584472147,
+        0.7941776820712453
+      ],
+      "z_min": 0.7410039648425055,
+      "z_max": 0.7941529341546535
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.713962634959063,
+        8.750766654781565,
+        0.740407812168202
+      ],
+      "rotation_wxyz": [
+        0.7680897691220024,
+        -0.0003489445654782805,
+        0.0003733865376034421,
+        0.6403419753462153
+      ],
+      "yaw_degrees_local": 79.57595099232248,
+      "yaw_radians": 1.3898870108250634,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.713962634959063,
+        8.750766654781565,
+        0.8904078181286664
+      ],
+      "z_min": 0.740407812168202,
+      "z_max": 1.0404078240891308
+    }
+  ],
+  "variant_index": 164
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0165/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0165/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..cf4f5b38cb2126da8adcbcecd3bc5333858c2459
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0165/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 6757087157024584687
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.6207049, -0.000265099738, 0.000436923271, 0.78404411)
+            double3 xformOp:translate = (1.87335967525, 8.5889748898, 0.74080511304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.743468507, -0.000419391734, -0.000292045185, -0.668770751)
+            double3 xformOp:translate = (3.7161602648, 8.77165405369, 0.740386346059)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.09822988, 1.32302168e-05, 0.000510886267, 0.995163619)
+            double3 xformOp:translate = (1.89093299876, 8.86492133344, 0.818482855206)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.215836442, -4.75967705e-05, 0.000508836284, 0.976429398)
+            double3 xformOp:translate = (3.63190985684, 8.55597341651, 0.801290296413)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.543435906, -0.000222405373, 0.000460125707, 0.839450508)
+            double3 xformOp:translate = (2.99716013527, 8.32165357524, 0.771525868854)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.149091017, -1.29639373e-05, 0.000510893093, 0.988823345)
+            double3 xformOp:translate = (3.37077411014, 8.54191695295, 0.746026582175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.932472856, -0.000495756595, -0.000124117747, -0.361239687)
+            double3 xformOp:translate = (2.00014680777, 8.30297596805, 0.794989180417)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.599733933, -0.000354827709, -0.000367800372, -0.800199318)
+            double3 xformOp:translate = (3.44728073648, 8.73398356447, 0.747117049758)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.579940703, -0.000345706245, -0.00037638678, -0.81465853)
+            double3 xformOp:translate = (3.04763588334, 8.23481698906, 0.746955785032)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.782962097, -0.000436460995, -0.000265860145, -0.622069204)
+            double3 xformOp:translate = (3.35784658691, 8.20733199548, 0.797164050894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.663517751, -0.000289084073, 0.000421438269, 0.748160365)
+            double3 xformOp:translate = (2.36521751788, 8.22450133764, 0.7873244805)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.681463943, -0.00039194443, -0.000327962467, -0.73185151)
+            double3 xformOp:translate = (1.9942675317, 8.62969281668, 0.744257926083)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.167580193, -2.25279295e-05, 0.000510560779, 0.985858315)
+            double3 xformOp:translate = (3.09442558131, 8.86251415611, 0.774442630906)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.740689143, -0.0004181772, -0.000293781629, -0.6718477)
+            double3 xformOp:translate = (3.43288959264, 8.80960197547, 0.774453412372)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0286796561, 4.87805651e-05, 0.000508724162, 0.999588523)
+            double3 xformOp:translate = (2.6650733066, 8.30157852221, 0.746936544444)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.83850234, -0.000390698347, 0.000329445926, 0.544897756)
+            double3 xformOp:translate = (2.91526620676, 8.21637948343, 0.809104371236)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997002392, -0.000500694451, 0.000102395718, 0.0773690389)
+            double3 xformOp:translate = (2.67515580789, 8.82789664245, 0.767060448909)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991402531, -0.000494466856, 0.00012916015, 0.130846327)
+            double3 xformOp:translate = (3.4784380931, 8.38555630584, 0.745177723106)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.133950514, -0.000130708065, -0.000494059934, -0.99098789)
+            double3 xformOp:translate = (3.70666828856, 8.41429114443, 0.780107094733)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999034952, -0.000509408875, 4.10172435e-05, -0.0439192726)
+            double3 xformOp:translate = (1.93252461129, 8.19804679311, 0.841413647545)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.872785273, -0.000473524998, -0.000192233953, -0.488104094)
+            double3 xformOp:translate = (2.28707006416, 8.84271426223, 0.796655294339)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986808363, -0.000510682208, -1.95831302e-05, -0.161891921)
+            double3 xformOp:translate = (2.19697096597, 8.91432401299, 0.740434131577)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.9736579, 0, 0, -0.228013804)
+            double3 xformOp:translate = (4.85510011661, 8.72596645272, 0.931220075857)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.843037573, -0.000393444434, 0.000326161453, 0.537854432)
+            double3 xformOp:translate = (3.66278745871, 8.26220189136, 0.755240679774)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.184709312, 0, 0, 0.982793198)
+            double3 xformOp:translate = (4.98900365946, 8.40326741692, 0.979198459737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.90800226, -0.000433920777, 0.000269986251, 0.418964956)
+            double3 xformOp:translate = (2.20060635093, 8.31008382554, 0.818414068591)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.463143257, -0.000178720808, 0.000478788773, 0.886283286)
+            double3 xformOp:translate = (2.44132011599, 8.87316937562, 0.840701970472)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.143727392, -1.0193667e-05, 0.000510955874, 0.989617186)
+            double3 xformOp:translate = (1.75716032846, 8.71895206012, 0.780033993109)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.801604102, -0.00044438067, -0.000252399755, -0.597855001)
+            double3 xformOp:translate = (3.3079493209, 8.88240671108, 0.840582798778)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.811335579, -0.000448474708, -0.00024505153, -0.584580462)
+            double3 xformOp:translate = (3.28946982132, 8.4844245969, 0.870682959566)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0165/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0165/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..899c02c8ec2759fc630934d2cea675394dc449fb
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0165/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 6757087157024584687,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 7,
+    "small prop": 1,
+    "small object": 5,
+    "office_supply": 4,
+    "small_electronics": 1,
+    "electronics": 7,
+    "decorative_object": 1,
+    "paper_goods": 1,
+    "drinkware/container": 2
+  },
+  "failed_sampling_attempt_count": 187,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.873359675252678,
+        8.588974889796773,
+        0.7408051130395205
+      ],
+      "rotation_wxyz": [
+        0.6207048998056955,
+        -0.0002650997381939594,
+        0.00043692327135299945,
+        0.7840441098416502
+      ],
+      "yaw_degrees_local": 103.20602116805986,
+      "yaw_radians": 1.8023097379466626,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.873359675252678,
+        8.588974889796773,
+        0.8908051189999849
+      ],
+      "z_min": 0.7408051130395205,
+      "z_max": 1.0408051249604493
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.7161602648041097,
+        8.771654053692703,
+        0.7403863460590249
+      ],
+      "rotation_wxyz": [
+        0.7434685073930893,
+        -0.00041939173371928696,
+        -0.00029204518473729946,
+        -0.6687707509564662
+      ],
+      "yaw_degrees_local": -84.003246931412,
+      "yaw_radians": -1.4651084352626165,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7161602648041097,
+        8.771654053692703,
+        0.7628833577728079
+      ],
+      "z_min": 0.7403863490539594,
+      "z_max": 0.7853803724815255
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        1.8909329987617602,
+        8.864921333442853,
+        0.8184828552061985
+      ],
+      "rotation_wxyz": [
+        0.09822987995410738,
+        1.3230216821723736e-05,
+        0.0005108862667983578,
+        0.9951636194638477
+      ],
+      "yaw_degrees_local": 168.66679172480286,
+      "yaw_radians": 2.9448155822320583,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8909329987617602,
+        8.864921333442853,
+        0.8964763796766967
+      ],
+      "z_min": 0.7405230534404387,
+      "z_max": 0.8965101023814351
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.6319098568411645,
+        8.555973416507289,
+        0.8012902964133195
+      ],
+      "rotation_wxyz": [
+        0.21583644202923066,
+        -4.7596770485286733e-05,
+        0.0005088362837688402,
+        0.976429397914845
+      ],
+      "yaw_degrees_local": 155.0120780004737,
+      "yaw_radians": 2.7064959836899094,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6319098568411645,
+        8.555973416507289,
+        0.8619171628685791
+      ],
+      "z_min": 0.7406158056112372,
+      "z_max": 0.8618695385217564
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.9971601352681656,
+        8.321653575240246,
+        0.7715258688544441
+      ],
+      "rotation_wxyz": [
+        0.5434359055141115,
+        -0.00022240537281901322,
+        0.00046012570715137004,
+        0.8394505080219095
+      ],
+      "yaw_degrees_local": 114.10559276758221,
+      "yaw_radians": 1.9925432106720464,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9971601352681656,
+        8.321653575240246,
+        0.8021282703598368
+      ],
+      "z_min": 0.7409338681210685,
+      "z_max": 0.8021386711318541
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.370774110141466,
+        8.54191695295085,
+        0.7460265821751105
+      ],
+      "rotation_wxyz": [
+        0.14909101723348755,
+        -1.2963937286337239e-05,
+        0.0005108930930932112,
+        0.9888233448905158
+      ],
+      "yaw_degrees_local": 162.7927806000091,
+      "yaw_radians": 2.8422947996353956,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.370774110141466,
+        8.54191695295085,
+        0.7513620228701113
+      ],
+      "z_min": 0.7406631194283004,
+      "z_max": 0.751334000818302
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.000146807767839,
+        8.302975968047646,
+        0.7949891804171758
+      ],
+      "rotation_wxyz": [
+        0.9324728562026375,
+        -0.0004957565946872272,
+        -0.00012411774677473401,
+        -0.3612396867254196
+      ],
+      "yaw_degrees_local": -42.411414136926254,
+      "yaw_radians": -0.7391938808506401,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.000146807767839,
+        8.302975968047646,
+        0.848909382710574
+      ],
+      "z_min": 0.7410791464373496,
+      "z_max": 0.848919551024146
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.4472807364801525,
+        8.733983564474777,
+        0.7471170497580085
+      ],
+      "rotation_wxyz": [
+        0.5997339329096468,
+        -0.0003548277087107367,
+        -0.0003678003716303196,
+        -0.8001993180057774
+      ],
+      "yaw_degrees_local": -106.35701046401826,
+      "yaw_radians": -1.8552554073013394,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4472807364801525,
+        8.733983564474777,
+        0.7537298540414963
+      ],
+      "z_min": 0.7404586264918522,
+      "z_max": 0.7536842350588278
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        3.047635883341149,
+        8.234816989055581,
+        0.7469557850323407
+      ],
+      "rotation_wxyz": [
+        0.5799407030392083,
+        -0.00034570624493056025,
+        -0.00037638678039527914,
+        -0.8146585295561404
+      ],
+      "yaw_degrees_local": -109.16595553596125,
+      "yaw_radians": -1.9042807711863932,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.047635883341149,
+        8.234816989055581,
+        0.752772997798913
+      ],
+      "z_min": 0.741015532370031,
+      "z_max": 0.7526499579031757
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.3578465869122387,
+        8.207331995479523,
+        0.7971640508939082
+      ],
+      "rotation_wxyz": [
+        0.7829620965131691,
+        -0.0004364609945253319,
+        -0.0002658601446216993,
+        -0.6220692037417439
+      ],
+      "yaw_degrees_local": -76.99351559813918,
+      "yaw_radians": -1.3427654905739104,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3578465869122387,
+        8.207331995479523,
+        0.8533463307038008
+      ],
+      "z_min": 0.741004130723944,
+      "z_max": 0.8533686903437293
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.365217517881003,
+        8.224501337635143,
+        0.7873244804997065
+      ],
+      "rotation_wxyz": [
+        0.6635177514981525,
+        -0.00028908407314209026,
+        0.0004214382693774869,
+        0.748160365340894
+      ],
+      "yaw_degrees_local": 96.80385317243628,
+      "yaw_radians": 1.6905707790792315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.365217517881003,
+        8.224501337635143,
+        0.833517080405789
+      ],
+      "z_min": 0.7411124790434757,
+      "z_max": 0.8334976788556405
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        1.9942675317032683,
+        8.629692816682683,
+        0.7442579260829338
+      ],
+      "rotation_wxyz": [
+        0.6814639431330397,
+        -0.00039194443021809853,
+        -0.00032796246715336607,
+        -0.731851510232611
+      ],
+      "yaw_degrees_local": -94.14240266438411,
+      "yaw_radians": -1.6420701744742905,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9942675317032683,
+        8.629692816682683,
+        0.747838205564259
+      ],
+      "z_min": 0.7407484982801816,
+      "z_max": 0.7479090572428317
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.0944255813101624,
+        8.862514156107475,
+        0.7744426309056938
+      ],
+      "rotation_wxyz": [
+        0.167580192874491,
+        -2.2527929510386042e-05,
+        0.0005105607785879049,
+        0.9858583152645882
+      ],
+      "yaw_degrees_local": 160.64697493048862,
+      "yaw_radians": 2.8048434437027665,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0944255813101624,
+        8.862514156107475,
+        0.8084411870763726
+      ],
+      "z_min": 0.740372988092068,
+      "z_max": 0.8083701004334256
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.432889592637232,
+        8.809601975471505,
+        0.7744534123724142
+      ],
+      "rotation_wxyz": [
+        0.7406891431050895,
+        -0.00041817720014060834,
+        -0.00029378162897443776,
+        -0.671847700082714
+      ],
+      "yaw_degrees_local": -84.47838768501053,
+      "yaw_radians": -1.473401209720742,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.432889592637232,
+        8.809601975471505,
+        0.808451968543093
+      ],
+      "z_min": 0.7403837695587884,
+      "z_max": 0.808380881900146
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.6650733065961028,
+        8.301578522208603,
+        0.7469365444443089
+      ],
+      "rotation_wxyz": [
+        0.028679656142312736,
+        4.878056514771118e-05,
+        0.0005087241617066978,
+        0.9995885234153816
+      ],
+      "yaw_degrees_local": 176.6543919453989,
+      "yaw_radians": 3.084225432829156,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6650733065961028,
+        8.301578522208603,
+        0.7527537572108812
+      ],
+      "z_min": 0.7409962917819992,
+      "z_max": 0.7526307173151439
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.9152662067560358,
+        8.216379483426099,
+        0.8091043712355369
+      ],
+      "rotation_wxyz": [
+        0.8385023397881867,
+        -0.00039069834673912643,
+        0.00032944592590533877,
+        0.5448977564552091
+      ],
+      "yaw_degrees_local": 65.97665319172731,
+      "yaw_radians": 1.1525343728950832,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9152662067560358,
+        8.216379483426099,
+        0.8771597147891228
+      ],
+      "z_min": 0.7410510361132274,
+      "z_max": 0.8771617232203991
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.6751558078884425,
+        8.827896642452496,
+        0.7670604489087898
+      ],
+      "rotation_wxyz": [
+        0.9970023924948019,
+        -0.0005006944509665391,
+        0.00010239571774067782,
+        0.07736903889686653
+      ],
+      "yaw_degrees_local": 8.81599854553886,
+      "yaw_radians": 0.15489275322347365,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6751558078884425,
+        8.827896642452496,
+        0.7936349335648638
+      ],
+      "z_min": 0.740461216336124,
+      "z_max": 0.793610185648272
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        3.478438093101801,
+        8.385556305843819,
+        0.7451777231063315
+      ],
+      "rotation_wxyz": [
+        0.9914025305038309,
+        -0.0004944668563132386,
+        0.00012916014961285728,
+        0.13084632715817693
+      ],
+      "yaw_degrees_local": 14.978293655931083,
+      "yaw_radians": 0.2624450482858178,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.478438093101801,
+        8.385556305843819,
+        0.7496017525748851
+      ],
+      "z_min": 0.7408080637614791,
+      "z_max": 0.7496561226985865
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.7066682885591735,
+        8.414291144427082,
+        0.7801070947325319
+      ],
+      "rotation_wxyz": [
+        0.1339505141912028,
+        -0.00013070806470122506,
+        -0.0004940599336744207,
+        -0.9909878902227294
+      ],
+      "yaw_degrees_local": -164.66283320064568,
+      "yaw_radians": -2.872884089680878,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7066682885591735,
+        8.414291144427082,
+        0.8193471695724232
+      ],
+      "z_min": 0.7407500212181213,
+      "z_max": 0.8192301708979038
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        1.932524611286433,
+        8.198046793110118,
+        0.8414136475453726
+      ],
+      "rotation_wxyz": [
+        0.9990349524985429,
+        -0.0005094088750501666,
+        4.101724345243676e-05,
+        -0.043919272608026735
+      ],
+      "yaw_degrees_local": -5.093108358912275,
+      "yaw_radians": -0.0878668389061177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.932524611286433,
+        8.198046793110118,
+        0.9415023486373857
+      ],
+      "z_min": 0.7411941609811773,
+      "z_max": 0.9413715631652033
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.2870700641616564,
+        8.84271426223083,
+        0.7966552943391827
+      ],
+      "rotation_wxyz": [
+        0.8727852727744191,
+        -0.00047352499790510654,
+        -0.00019223395277442922,
+        -0.48810409386550624
+      ],
+      "yaw_degrees_local": -58.49080910824949,
+      "yaw_radians": -1.0198322561059405,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2870700641616564,
+        8.84271426223083,
+        0.8528375741490754
+      ],
+      "z_min": 0.7404953741692185,
+      "z_max": 0.8528599337890038
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.196970965969597,
+        8.914324012992344,
+        0.7404341315767811
+      ],
+      "rotation_wxyz": [
+        0.986808362680085,
+        -0.000510682207691346,
+        -1.958313018405286e-05,
+        -0.1618919212463489
+      ],
+      "yaw_degrees_local": -18.69216724216767,
+      "yaw_radians": -0.3252150704295966,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.196970965969597,
+        8.914324012992344,
+        0.7904342254540966
+      ],
+      "z_min": 0.7404341315767811,
+      "z_max": 0.8404343193314121
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        4.855100116610218,
+        8.725966452715507,
+        0.9312200758573363
+      ],
+      "rotation_wxyz": [
+        0.9736578995264866,
+        0.0,
+        0.0,
+        -0.22801380372615632
+      ],
+      "yaw_degrees_local": -116.36032843867605,
+      "yaw_radians": -0.4600745231619933,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.855100116610218,
+        8.725966452715507,
+        0.9420994960604726
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9419588693026043
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.6627874587132396,
+        8.262201891357508,
+        0.7552406797744962
+      ],
+      "rotation_wxyz": [
+        0.8430375728441633,
+        -0.0003934444342457603,
+        0.000326161452966696,
+        0.5378544316013453
+      ],
+      "yaw_degrees_local": 65.01669874803008,
+      "yaw_radians": 1.1357799999839753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6627874587132396,
+        8.262201891357508,
+        0.7693761626805381
+      ],
+      "z_min": 0.7409098217100325,
+      "z_max": 0.7691807875221164
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        4.989003659458935,
+        8.40326741692498,
+        0.9791984597370379
+      ],
+      "rotation_wxyz": [
+        -0.18470931168175037,
+        0.0,
+        0.0,
+        0.9827931980727451
+      ],
+      "yaw_degrees_local": 111.28837022426063,
+      "yaw_radians": -2.7700405007929216,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.989003659458935,
+        8.40326741692498,
+        1.0383247377695581
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0384525849613722
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.200606350934575,
+        8.310083825537575,
+        0.8184140685914859
+      ],
+      "rotation_wxyz": [
+        0.9080022602361267,
+        -0.00043392077673923366,
+        0.0002699862510468501,
+        0.41896495584507903
+      ],
+      "yaw_degrees_local": 49.47981260653597,
+      "yaw_radians": 0.8646100935287007,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.200606350934575,
+        8.310083825537575,
+        0.8957958237248254
+      ],
+      "z_min": 0.7410465512241026,
+      "z_max": 0.8958100614907815
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.4413201159854445,
+        8.873169375620579,
+        0.8407019704716905
+      ],
+      "rotation_wxyz": [
+        0.46314325695407366,
+        -0.00017872080764381757,
+        0.0004787887730048128,
+        0.8862832856136671
+      ],
+      "yaw_degrees_local": 124.76103602473478,
+      "yaw_radians": 2.1785158066440538,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4413201159854445,
+        8.873169375620579,
+        0.9409188505343404
+      ],
+      "z_min": 0.740444964993412,
+      "z_max": 0.940878725118712
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.757160328461253,
+        8.71895206011875,
+        0.780033993109176
+      ],
+      "rotation_wxyz": [
+        0.14372739184366373,
+        -1.0193666975513369e-05,
+        0.0005109558742141095,
+        0.9896171864180624
+      ],
+      "yaw_degrees_local": 163.41410297988904,
+      "yaw_radians": 2.853138915538946,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.757160328461253,
+        8.71895206011875,
+        0.8193828524350518
+      ],
+      "z_min": 0.7406880291512397,
+      "z_max": 0.8193857478029913
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.307949320900721,
+        8.882406711075113,
+        0.8405827987775909
+      ],
+      "rotation_wxyz": [
+        0.8016041021964886,
+        -0.0004443806701525029,
+        -0.00025239975482382106,
+        -0.5978550009508539
+      ],
+      "yaw_degrees_local": -73.49157633283565,
+      "yaw_radians": -1.2816450971887499,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.307949320900721,
+        8.882406711075113,
+        0.9407996788402408
+      ],
+      "z_min": 0.7403257932993124,
+      "z_max": 0.9407595534246124
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.2894698213213642,
+        8.484424596903825,
+        0.8706829595655002
+      ],
+      "rotation_wxyz": [
+        0.8113355794611747,
+        -0.0004484747082792601,
+        -0.0002450515298343292,
+        -0.5845804618019521
+      ],
+      "yaw_degrees_local": -71.60543538049318,
+      "yaw_radians": -1.2487257161936807,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2894698213213642,
+        8.484424596903825,
+        1.0008501090802695
+      ],
+      "z_min": 0.7407317964498641,
+      "z_max": 1.0010660954794024
+    }
+  ],
+  "variant_index": 165
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0168/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0168/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..29842c89f927e42fa49e2fa732f609c3fc7d8702
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0168/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2293375511578722799
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.395487635, -0.000142372443, 0.000490825737, 0.918471159)
+            double3 xformOp:translate = (1.73389173497, 8.47717083594, 0.740936176058)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.798559433, -0.00036683054, 0.000355830256, 0.601915751)
+            double3 xformOp:translate = (3.53341403255, 8.57402781793, 0.740306245705)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96775409, -0.00050672131, -6.64328997e-05, -0.251896328)
+            double3 xformOp:translate = (3.71006960054, 8.81433833708, 0.794253891115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.640826543, -0.000373606661, -0.000348708874, -0.767685535)
+            double3 xformOp:translate = (3.54212841784, 8.26927709477, 0.788341000306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.82004506, -0.000379602499, 0.000342172119, 0.572298732)
+            double3 xformOp:translate = (2.51211870509, 8.83329551559, 0.804724890009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.752390752, -0.000423279426, -0.000286381465, -0.658716856)
+            double3 xformOp:translate = (1.98365737807, 8.57391879954, 0.767405655035)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999229834, -0.000509211026, 4.34044568e-05, -0.0392361869)
+            double3 xformOp:translate = (3.48039603353, 8.80466532593, 0.748395513363)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.83871526, -0.000459824695, -0.000223027053, -0.544569969)
+            double3 xformOp:translate = (3.0524730738, 8.26907941714, 0.857819806965)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.19564212, -0.00016133955, -0.000484922021, -0.980675226)
+            double3 xformOp:translate = (1.80652910949, 8.85570014165, 0.82245397863)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.649508306, 0, 0, 0.760354497)
+            double3 xformOp:translate = (4.89221170581, 8.14267930828, 0.935405706012)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.882057803, -0.00047715262, -0.000183044239, -0.471140925)
+            double3 xformOp:translate = (1.91771962065, 8.78216854896, 0.748770704993)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953821138, -0.000502726821, -9.18997288e-05, -0.300374726)
+            double3 xformOp:translate = (2.75397165774, 8.31900889948, 0.752546080777)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986109842, -0.000489549909, 0.000146699363, 0.166093706)
+            double3 xformOp:translate = (3.36772590255, 8.24178732903, 0.752211002893)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.951616359, -0.000463112965, 0.000216116169, 0.307288211)
+            double3 xformOp:translate = (3.72067513238, 8.5984899042, 0.777216975539)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.785115407, -0.000437380664, -0.000264344417, -0.619349285)
+            double3 xformOp:translate = (2.02231074173, 8.64114611889, 0.818100884814)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973113277, -0.000478889962, 0.000178449491, 0.230326485)
+            double3 xformOp:translate = (3.27564244488, 8.9044880938, 0.740307438598)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.591200438, -0.000248713409, 0.000446454316, 0.806524508)
+            double3 xformOp:translate = (2.3592384219, 8.28724680571, 0.761210811075)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.744036194, -0.000419639602, -0.00029168891, -0.668139118)
+            double3 xformOp:translate = (3.17003331318, 8.45359035686, 0.744287564022)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.795819674, -0.000441933729, -0.000256660077, -0.605533472)
+            double3 xformOp:translate = (2.89355445621, 8.25442874823, 0.752815727723)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.696666639, -0.000398738121, -0.000319668152, -0.717394824)
+            double3 xformOp:translate = (3.65582466026, 8.403853733, 0.82715433073)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.566038406, -0.000234822268, 0.00045391444, 0.824378713)
+            double3 xformOp:translate = (2.00144095778, 8.29382805723, 0.788668060378)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.814422175, -0.000449767063, -0.000242671393, -0.580272573)
+            double3 xformOp:translate = (3.15780103873, 8.78586553172, 0.81061438885)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0566023707, 3.45450065e-05, 0.000509888673, 0.99839667)
+            double3 xformOp:translate = (2.82475694833, 8.84742883224, 0.821612168538)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.20122023, -3.99872242e-05, 0.000509490764, 0.979545894)
+            double3 xformOp:translate = (3.46805705574, 8.40473233707, 0.754235674714)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93805212, -0.000497651769, -0.000116286427, -0.346493808)
+            double3 xformOp:translate = (1.84794799588, 8.49179465788, 0.746160046459)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.972878055, -0.000478707863, 0.000178937415, 0.231318025)
+            double3 xformOp:translate = (1.89864060373, 8.21621046668, 0.823090899006)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00639654845, -6.65930311e-05, -0.000506700291, -0.999979411)
+            double3 xformOp:translate = (3.63820606688, 8.21521390539, 0.787550843643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999937699, -0.00050637796, 6.90012856e-05, 0.011150682)
+            double3 xformOp:translate = (2.08341253371, 8.85337383708, 0.7457634876)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.640676489, -0.000276256041, 0.000429956296, 0.767810768)
+            double3 xformOp:translate = (2.57844989939, 8.21430593724, 0.812378355731)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.235722232, -5.79731585e-05, 0.000507758731, 0.971820337)
+            double3 xformOp:translate = (3.30761998792, 8.55584528597, 0.771249008475)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0168/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0168/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c77a447cd8be6ddbc6f6f893e60676bde0a72f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0168/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2293375511578722799,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "book": 2,
+    "small_electronics": 1,
+    "small object": 5,
+    "electronics": 7,
+    "clock": 2,
+    "stationery": 1,
+    "small electronic device": 1,
+    "paper_goods": 1,
+    "small prop": 1,
+    "paper goods": 1,
+    "writing_instrument": 2
+  },
+  "failed_sampling_attempt_count": 330,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.7338917349661163,
+        8.477170835943364,
+        0.7409361760578601
+      ],
+      "rotation_wxyz": [
+        0.39548763492854966,
+        -0.00014237244292341,
+        0.0004908257366279126,
+        0.9184711587408754
+      ],
+      "yaw_degrees_local": 133.34850299515347,
+      "yaw_radians": 2.328395376324943,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7338917349661163,
+        8.477170835943364,
+        0.7634331877716432
+      ],
+      "z_min": 0.7409361790527946,
+      "z_max": 0.7859302024803607
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.5334140325495946,
+        8.574027817930368,
+        0.7403062457052836
+      ],
+      "rotation_wxyz": [
+        0.7985594327781426,
+        -0.00036683054031124264,
+        0.0003558302557895751,
+        0.6019157508665439
+      ],
+      "yaw_degrees_local": 73.95575438040774,
+      "yaw_radians": 1.2917960253193945,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5334140325495946,
+        8.574027817930368,
+        0.7491183131097894
+      ],
+      "z_min": 0.7406099419351047,
+      "z_max": 0.7582340767441162
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.710069600543207,
+        8.814338337076233,
+        0.7942538911145375
+      ],
+      "rotation_wxyz": [
+        0.9677540899159838,
+        -0.000506721310064528,
+        -6.643289973199368e-05,
+        -0.2518963284191932
+      ],
+      "yaw_degrees_local": -29.238225415145536,
+      "yaw_radians": -0.5092784289969888,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.710069600543207,
+        8.814338337076233,
+        0.8481740934079357
+      ],
+      "z_min": 0.7403438571347112,
+      "z_max": 0.8481842617215076
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.542128417837607,
+        8.269277094767082,
+        0.7883410003062028
+      ],
+      "rotation_wxyz": [
+        0.6408265425402334,
+        -0.00037360666093060914,
+        -0.00034870887449073263,
+        -0.7676855353568376
+      ],
+      "yaw_degrees_local": -100.35173724669153,
+      "yaw_radians": -1.7504435637924807,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.542128417837607,
+        8.269277094767082,
+        0.8357935260451832
+      ],
+      "z_min": 0.7409179507327742,
+      "z_max": 0.8358230022107351
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.512118705089833,
+        8.83329551558878,
+        0.8047248900085816
+      ],
+      "rotation_wxyz": [
+        0.820045059503659,
+        -0.0003796024986696955,
+        0.00034217211932598547,
+        0.572298732484901
+      ],
+      "yaw_degrees_local": 69.76265886661633,
+      "yaw_radians": 1.218612667321102,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.512118705089833,
+        8.83329551558878,
+        0.8689138440963021
+      ],
+      "z_min": 0.7404764172753151,
+      "z_max": 0.8688543254507561
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        1.9836573780709819,
+        8.573918799537836,
+        0.7674056550352385
+      ],
+      "rotation_wxyz": [
+        0.7523907515149205,
+        -0.0004232794263423433,
+        -0.00028638146496519183,
+        -0.6587168556026156
+      ],
+      "yaw_degrees_local": -82.46289587451895,
+      "yaw_radians": -1.43822422527299,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9836573780709819,
+        8.573918799537836,
+        0.7939801396913125
+      ],
+      "z_min": 0.7408064224625728,
+      "z_max": 0.7939553917747207
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.48039603353061,
+        8.804665325931849,
+        0.7483955133628085
+      ],
+      "rotation_wxyz": [
+        0.999229833652146,
+        -0.0005092110263648779,
+        4.3404456784301146e-05,
+        -0.039236186864789975
+      ],
+      "yaw_degrees_local": -4.5560012471641755,
+      "yaw_radians": -0.07849255625038047,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.48039603353061,
+        8.804665325931849,
+        0.7562248525476265
+      ],
+      "z_min": 0.7403827437372458,
+      "z_max": 0.7560414221068817
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.052473073800126,
+        8.26907941714126,
+        0.8578198069651671
+      ],
+      "rotation_wxyz": [
+        0.8387152604598288,
+        -0.0004598246948933664,
+        -0.00022302705263383437,
+        -0.5445699685917188
+      ],
+      "yaw_degrees_local": -66.04928351312334,
+      "yaw_radians": -1.1517525446031411,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.052473073800126,
+        8.26907941714126,
+        0.9746786256411395
+      ],
+      "z_min": 0.7409802273649025,
+      "z_max": 0.9746978647168474
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        1.8065291094934344,
+        8.855700141651047,
+        0.8224539786296158
+      ],
+      "rotation_wxyz": [
+        0.19564212022259453,
+        -0.00016133954962409342,
+        -0.00048492202050165483,
+        -0.9806752263695622
+      ],
+      "yaw_degrees_local": -157.49423362922025,
+      "yaw_radians": -2.747768464353261,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8065291094934344,
+        8.855700141651047,
+        0.9043899876704347
+      ],
+      "z_min": 0.7405431020010886,
+      "z_max": 0.9044151200827262
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        4.892211705808064,
+        8.142679308280782,
+        0.9354057060119951
+      ],
+      "rotation_wxyz": [
+        0.6495083058433627,
+        0.0,
+        0.0,
+        0.7603544966924868
+      ],
+      "yaw_degrees_local": 8.990919013814704,
+      "yaw_radians": 1.7277174663661248,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.892211705808064,
+        8.142679308280782,
+        0.9505741829645266
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9505369828013946
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        1.9177196206495761,
+        8.782168548964124,
+        0.7487707049934998
+      ],
+      "rotation_wxyz": [
+        0.8820578030986451,
+        -0.00047715261999069057,
+        -0.0001830442391235853,
+        -0.47114092457880996
+      ],
+      "yaw_degrees_local": -56.27548227925409,
+      "yaw_radians": -0.9811675052845891,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9177196206495761,
+        8.782168548964124,
+        0.7570067117456405
+      ],
+      "z_min": 0.7406035536253368,
+      "z_max": 0.7570755671296182
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        2.7539716577408995,
+        8.319008899478142,
+        0.75254608077658
+      ],
+      "rotation_wxyz": [
+        0.9538211377096691,
+        -0.000502726820532006,
+        -9.189972882491452e-05,
+        -0.3003747260979466
+      ],
+      "yaw_degrees_local": -35.01893798148575,
+      "yaw_radians": -0.6101708625007464,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7539716577408995,
+        8.319008899478142,
+        0.7640588352000305
+      ],
+      "z_min": 0.7409673527571289,
+      "z_max": 0.7639928616040297
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.3677259025507493,
+        8.241787329030926,
+        0.7522110028928132
+      ],
+      "rotation_wxyz": [
+        0.9861098415591409,
+        -0.0004895499086804139,
+        0.00014669936315918705,
+        0.1660937060830119
+      ],
+      "yaw_degrees_local": 19.062844030922093,
+      "yaw_radians": 0.3337338760903096,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3677259025507493,
+        8.241787329030926,
+        0.7634440021167254
+      ],
+      "z_min": 0.740967909832864,
+      "z_max": 0.7634339082806884
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.7206751323838017,
+        8.598489904200244,
+        0.777216975539238
+      ],
+      "rotation_wxyz": [
+        0.9516163588091238,
+        -0.00046311296455870527,
+        0.00021611616852507823,
+        0.3072882107518103
+      ],
+      "yaw_degrees_local": 35.733056891533806,
+      "yaw_radians": 0.624683924194335,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7206751323838017,
+        8.598489904200244,
+        0.8138271886084166
+      ],
+      "z_min": 0.7405614248149532,
+      "z_max": 0.8137818509533106
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.0223107417349997,
+        8.641146118892012,
+        0.8181008848143007
+      ],
+      "rotation_wxyz": [
+        0.7851154068071667,
+        -0.0004373806642023381,
+        -0.00026434441704381465,
+        -0.6193492849872365
+      ],
+      "yaw_degrees_local": -76.59598496937629,
+      "yaw_radians": -1.3358272694796907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0223107417349997,
+        8.641146118892012,
+        0.8954826399476401
+      ],
+      "z_min": 0.7407333674469173,
+      "z_max": 0.8954968777135962
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.2756424448752077,
+        8.90448809379938,
+        0.7403074385975822
+      ],
+      "rotation_wxyz": [
+        0.9731132766276362,
+        -0.0004788899617649334,
+        0.00017844949078406802,
+        0.2303264849538793
+      ],
+      "yaw_degrees_local": 26.57388119590931,
+      "yaw_radians": 0.4648261707136598,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2756424448752077,
+        8.90448809379938,
+        0.7903075324748977
+      ],
+      "z_min": 0.7403074385975822,
+      "z_max": 0.8403076263522132
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000153_obj_002_closed_book_brown_beige_63d83e7b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14985296914489787,
+        0.20286024924100854,
+        0.04006125936921717
+      ],
+      "bbox_min_m": [
+        -0.07506491084878208,
+        -0.10150213767909318,
+        -0.020161226553834885
+      ],
+      "bbox_max_m": [
+        0.07478805829611578,
+        0.10135811156191539,
+        0.019900032815382263
+      ],
+      "translation_world": [
+        2.3592384218950886,
+        8.287246805707593,
+        0.7612108110748871
+      ],
+      "rotation_wxyz": [
+        0.5912004377045028,
+        -0.00024871340926562916,
+        0.00044645431601876166,
+        0.8065245075496394
+      ],
+      "yaw_degrees_local": 107.4567961043731,
+      "yaw_radians": 1.876499783714256,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3592384218950886,
+        8.287246805707593,
+        0.7812414407594956
+      ],
+      "z_min": 0.7410495845210522,
+      "z_max": 0.7811108438902693
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.170033313180086,
+        8.45359035686295,
+        0.7442875640223379
+      ],
+      "rotation_wxyz": [
+        0.7440361942499646,
+        -0.0004196396024659767,
+        -0.0002916889101123142,
+        -0.6681391175991817
+      ],
+      "yaw_degrees_local": -83.9059297979414,
+      "yaw_radians": -1.4634099300705914,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.170033313180086,
+        8.45359035686295,
+        0.747867843503663
+      ],
+      "z_min": 0.7407781362195857,
+      "z_max": 0.7479386951822358
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        2.8935544562137716,
+        8.254428748230682,
+        0.7528157277229125
+      ],
+      "rotation_wxyz": [
+        0.7958196736350376,
+        -0.0004419337294552596,
+        -0.00025666007677486205,
+        -0.6055334721347831
+      ],
+      "yaw_degrees_local": -74.59320161305924,
+      "yaw_radians": -1.3008720923935337,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8935544562137716,
+        8.254428748230682,
+        0.7646869982694823
+      ],
+      "z_min": 0.7410151668434631,
+      "z_max": 0.7647577079366026
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        3.6558246602575784,
+        8.403853732999137,
+        0.8271543307303552
+      ],
+      "rotation_wxyz": [
+        0.6966666387107932,
+        -0.00039873812078334095,
+        -0.0003196681517988341,
+        -0.7173948238784478
+      ],
+      "yaw_degrees_local": -91.73834387919344,
+      "yaw_radians": -1.6001114115895194,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6558246602575784,
+        8.403853732999137,
+        0.9135536096886219
+      ],
+      "z_min": 0.7407670736879942,
+      "z_max": 0.9135656316045275
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.0014409577812895,
+        8.293828057231442,
+        0.7886680603782394
+      ],
+      "rotation_wxyz": [
+        0.5660384057070935,
+        -0.00023482226774032935,
+        0.00045391443997035575,
+        0.8243787127799673
+      ],
+      "yaw_degrees_local": 110.99241697347617,
+      "yaw_radians": 1.9382080284549605,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0014409577812895,
+        8.293828057231442,
+        0.8360669858063399
+      ],
+      "z_min": 0.7410882572659397,
+      "z_max": 0.8358861081221407
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.157801038733515,
+        8.78586553171802,
+        0.8106143888502856
+      ],
+      "rotation_wxyz": [
+        0.8144221750976269,
+        -0.0004497670631095326,
+        -0.00024267139341533093,
+        -0.5802725734768396
+      ],
+      "yaw_degrees_local": -70.99815365902224,
+      "yaw_radians": -1.2381266472396633,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.157801038733515,
+        8.78586553171802,
+        0.8807907550822045
+      ],
+      "z_min": 0.7404427167100655,
+      "z_max": 0.8807954491739032
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.8247569483296613,
+        8.84742883223679,
+        0.8216121685383927
+      ],
+      "rotation_wxyz": [
+        0.05660237068323148,
+        3.4545006493869247e-05,
+        0.0005098886729146384,
+        0.9983966698928949
+      ],
+      "yaw_degrees_local": 173.45166640770196,
+      "yaw_radians": 3.0283273562537847,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8247569483296613,
+        8.84742883223679,
+        0.9028560218317576
+      ],
+      "z_min": 0.7404224800445061,
+      "z_max": 0.902910186631236
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        3.4680570557388952,
+        8.404732337074144,
+        0.7542356747144864
+      ],
+      "rotation_wxyz": [
+        0.20122022951067367,
+        -3.9987224188838224e-05,
+        0.0005094907635492367,
+        0.9795458937976597
+      ],
+      "yaw_degrees_local": 156.72463890295967,
+      "yaw_radians": 2.736385797122646,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4680570557388952,
+        8.404732337074144,
+        0.7677804240870836
+      ],
+      "z_min": 0.7407899348436165,
+      "z_max": 0.7678794335888111
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        1.8479479958818095,
+        8.491794657876866,
+        0.7461600464591014
+      ],
+      "rotation_wxyz": [
+        0.938052119973165,
+        -0.000497651768940024,
+        -0.0001162864270290287,
+        -0.34649380807459623
+      ],
+      "yaw_degrees_local": -40.604736073019666,
+      "yaw_radians": -0.7076614061055617,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8479479958818095,
+        8.491794657876866,
+        0.7513959617772349
+      ],
+      "z_min": 0.7409068987900203,
+      "z_max": 0.7513787294262873
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        1.8986406037276944,
+        8.216210466684917,
+        0.8230908990055437
+      ],
+      "rotation_wxyz": [
+        0.9728780552334868,
+        -0.0004787078626724831,
+        0.00017893741491330326,
+        0.23131802451450384
+      ],
+      "yaw_degrees_local": 26.690656694746252,
+      "yaw_radians": 0.46686428724872503,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8986406037276944,
+        8.216210466684917,
+        0.9050269080463625
+      ],
+      "z_min": 0.7411800223770164,
+      "z_max": 0.9050520404586542
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.6382060668836043,
+        8.215213905390716,
+        0.7875508436429408
+      ],
+      "rotation_wxyz": [
+        0.0063965484494843666,
+        -6.659303113940852e-05,
+        -0.000506700290550517,
+        -0.9999794112821111
+      ],
+      "yaw_degrees_local": -179.32571486575029,
+      "yaw_radians": -3.1287995384861627,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6382060668836043,
+        8.215213905390716,
+        0.8341324469088588
+      ],
+      "z_min": 0.7409606097782407,
+      "z_max": 0.8341238163100767
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.083412533709748,
+        8.85337383707783,
+        0.7457634876001252
+      ],
+      "rotation_wxyz": [
+        0.9999376986151861,
+        -0.0005063779604485077,
+        6.900128558456077e-05,
+        0.011150681967893952
+      ],
+      "yaw_degrees_local": 1.2190902592475084,
+      "yaw_radians": 0.022301753548203535,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.083412533709748,
+        8.85337383707783,
+        0.7509994029182587
+      ],
+      "z_min": 0.7405103399310441,
+      "z_max": 0.7509821705673111
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        2.578449899394314,
+        8.214305937237162,
+        0.8123783557310285
+      ],
+      "rotation_wxyz": [
+        0.6406764889466745,
+        -0.00027625604075511955,
+        0.0004299562956704069,
+        0.7678107679182063
+      ],
+      "yaw_degrees_local": 100.25671291297044,
+      "yaw_radians": 1.7508345770085554,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.578449899394314,
+        8.214305937237162,
+        0.8838566024610965
+      ],
+      "z_min": 0.7410958158608179,
+      "z_max": 0.8840523093209538
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        3.3076199879236343,
+        8.55584528597211,
+        0.7712490084745692
+      ],
+      "rotation_wxyz": [
+        0.2357222322008101,
+        -5.797315847695684e-05,
+        0.0005077587312262767,
+        0.9718203373393929
+      ],
+      "yaw_degrees_local": 152.67288654409725,
+      "yaw_radians": 2.665669407752219,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3076199879236343,
+        8.55584528597211,
+        0.801851409979962
+      ],
+      "z_min": 0.7406570077411937,
+      "z_max": 0.8018618107519793
+    }
+  ],
+  "variant_index": 168
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0169/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0169/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..165662ff42c4caaaa906a08d0b73593b15640d43
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0169/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8588089435375735841
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.292101751, -0.000208717102, -0.000466494359, -0.956387111)
+            double3 xformOp:translate = (1.74173419389, 8.86594100135, 0.740540879198)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.223320464, -5.14987486e-05, 0.000508456188, 0.974744946)
+            double3 xformOp:translate = (2.159369524, 8.19694392096, 0.741166485694)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702070353, -0.000310918687, 0.000405597567, 0.712107406)
+            double3 xformOp:translate = (2.91345725399, 8.23759796209, 0.767628955764)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0610861521, -9.42099905e-05, -0.000502299008, -0.998132366)
+            double3 xformOp:translate = (3.25167869497, 8.89160155819, 0.881958481994)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.361502894, -0.000124257686, 0.000495721539, 0.932370847)
+            double3 xformOp:translate = (3.01409455002, 8.2970811669, 0.748374616227)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.830291624, -0.000385747039, 0.000335229829, 0.557328949)
+            double3 xformOp:translate = (3.57243086562, 8.83144800948, 0.786920838438)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.841611725, -0.000392580195, 0.000327201172, 0.540082811)
+            double3 xformOp:translate = (1.71123415315, 8.35375414584, 0.801738745468)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.343370944, -0.000114630071, 0.000498035905, 0.93919973)
+            double3 xformOp:translate = (3.4092436123, 8.45788346086, 0.788066551604)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999890014, -0.000507999178, 5.58269769e-05, -0.0148222492)
+            double3 xformOp:translate = (3.23052804989, 8.36551058447, 0.751979105118)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988083501, -0.000491322124, 0.000140649872, 0.153917943)
+            double3 xformOp:translate = (3.6188118989, 8.43929176378, 0.740432079342)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.897130871, -0.000482935406, -0.000167192136, -0.441764574)
+            double3 xformOp:translate = (3.70257785572, 8.84162222919, 0.75033880367)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.834242033, -0.000457988822, -0.000226773137, -0.551398195)
+            double3 xformOp:translate = (2.52209751754, 8.253360677, 0.787075938835)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.487805112, -0.000192071746, 0.000473590816, 0.872952411)
+            double3 xformOp:translate = (3.52832140919, 8.63862144215, 0.748712230037)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.804030649, -0.000370069321, 0.000352460655, 0.594587634)
+            double3 xformOp:translate = (3.41579487185, 8.8345268995, 0.796520587528)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.691720221, 0, 0, 0.722165588)
+            double3 xformOp:translate = (4.88094912646, 8.18539890448, 0.967779832009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.608453593, -0.000258282212, 0.000440987659, 0.793589292)
+            double3 xformOp:translate = (1.7686122574, 8.53936108993, 0.743989635495)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.88685007, -0.000420464258, 0.000290498923, 0.462057022)
+            double3 xformOp:translate = (2.72926054604, 8.28770304304, 0.767601475508)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997349838, -0.000501163057, 0.000100077001, 0.0727532751)
+            double3 xformOp:translate = (3.12239328425, 8.26600283833, 0.775044088339)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.842494513, -0.000393115176, 0.000326558226, 0.538704682)
+            double3 xformOp:translate = (3.71234458616, 8.69220582542, 0.80114193395)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.741805805, -0.000333697763, 0.000387073144, 0.670614559)
+            double3 xformOp:translate = (1.92636977325, 8.8593501825, 0.748691328913)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.647079618, -0.000279844534, 0.000427629341, 0.762422263)
+            double3 xformOp:translate = (1.84202014045, 8.31460276809, 0.812369937933)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.379366837, -0.000133768126, 0.00049324021, 0.925246206)
+            double3 xformOp:translate = (3.37695695116, 8.6428530667, 0.750109494832)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.144278132, -1.04780334e-05, 0.000510950122, 0.989537043)
+            double3 xformOp:translate = (1.94121888243, 8.54683076674, 0.740839256133)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.904966661, -0.000431968507, 0.00027309893, 0.425482175)
+            double3 xformOp:translate = (2.02409603674, 8.3392860072, 0.756244942131)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.512203053, -0.000314155857, -0.000403095415, -0.858864234)
+            double3 xformOp:translate = (3.42688755751, 8.28405767357, 0.799915997827)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.691893923, -0.00030513142, 0.000409969063, 0.721998988)
+            double3 xformOp:translate = (2.09302025774, 8.8808775568, 0.744801497529)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.501567211, -0.000199547006, 0.000470489966, 0.865118531)
+            double3 xformOp:translate = (2.81445539467, 8.31601220722, 0.818330280474)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.916857827, -0.000439662838, 0.000260531006, 0.399213557)
+            double3 xformOp:translate = (2.55537625564, 8.88263022504, 0.745784331633)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.989451236, -0.000510943813, -1.07812927e-05, -0.144865421)
+            double3 xformOp:translate = (2.27475491197, 8.89643677376, 0.746132221779)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.992636999, -0.000511055464, 1.45912452e-06, -0.121126082)
+            double3 xformOp:translate = (3.02378011995, 8.90313469468, 0.810512431292)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0169/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0169/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cf8c66b144c6b2b3c816dca164dfb4fce8bf383
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0169/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8588089435375735841,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 7,
+    "small object": 7,
+    "small_prop": 1,
+    "book": 1,
+    "stationery": 2,
+    "paper goods": 1,
+    "office_supply": 2,
+    "paper_goods": 1,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 93,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.7417341938857143,
+        8.865941001350544,
+        0.7405408791981682
+      ],
+      "rotation_wxyz": [
+        0.292101751309451,
+        -0.0002087171023552964,
+        -0.0004664943594779269,
+        -0.9563871107988311
+      ],
+      "yaw_degrees_local": -146.09105228221384,
+      "yaw_radians": -2.548745438655375,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7417341938857143,
+        8.865941001350544,
+        0.7630378909119513
+      ],
+      "z_min": 0.7405408821931028,
+      "z_max": 0.7855349056206689
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.1593695239979667,
+        8.196943920964236,
+        0.7411664856943524
+      ],
+      "rotation_wxyz": [
+        0.2233204644448138,
+        -5.149874863875663e-05,
+        0.0005084561880132395,
+        0.9747449456038931
+      ],
+      "yaw_degrees_local": 154.13301602068236,
+      "yaw_radians": 2.6911534642558848,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1593695239979667,
+        8.196943920964236,
+        0.7911665795716679
+      ],
+      "z_min": 0.7411664856943524,
+      "z_max": 0.8411666734489834
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.913457253987835,
+        8.23759796209259,
+        0.767628955764456
+      ],
+      "rotation_wxyz": [
+        0.7020703529860216,
+        -0.0003109186870594102,
+        0.00040559756690291567,
+        0.7121074064200337
+      ],
+      "yaw_degrees_local": 90.7545835823613,
+      "yaw_radians": 1.5849910563221332,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.913457253987835,
+        8.23759796209259,
+        0.79420344042053
+      ],
+      "z_min": 0.7410297231917903,
+      "z_max": 0.7941786925039382
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.251678694965057,
+        8.891601558189073,
+        0.8819584819941104
+      ],
+      "rotation_wxyz": [
+        0.06108615210902683,
+        -9.42099904976757e-05,
+        -0.0005022990084907002,
+        -0.9981323663927029
+      ],
+      "yaw_degrees_local": -173.0543913607421,
+      "yaw_radians": -3.0193443477799624,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.251678694965057,
+        8.891601558189073,
+        1.0235192691898618
+      ],
+      "z_min": 0.7403236187549899,
+      "z_max": 1.0234451931464927
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.014094550017137,
+        8.297081166896854,
+        0.7483746162266981
+      ],
+      "rotation_wxyz": [
+        0.36150289415534403,
+        -0.00012425768580062735,
+        0.0004957215385272111,
+        0.9323708470010708
+      ],
+      "yaw_degrees_local": 137.55623854142937,
+      "yaw_radians": 2.401834205570717,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.014094550017137,
+        8.297081166896854,
+        0.7559145188697975
+      ],
+      "z_min": 0.7409566325337863,
+      "z_max": 0.7560364378199852
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        3.5724308656247294,
+        8.831448009479667,
+        0.7869208384381655
+      ],
+      "rotation_wxyz": [
+        0.8302916243417438,
+        -0.0003857470391194468,
+        0.00033522982870098634,
+        0.5573289489772919
+      ],
+      "yaw_degrees_local": 67.68385421731267,
+      "yaw_radians": 1.1823306649851375,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5724308656247294,
+        8.831448009479667,
+        0.8332880065740504
+      ],
+      "z_min": 0.7403439391058066,
+      "z_max": 0.8330782753775765
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        1.7112341531454769,
+        8.353754145838476,
+        0.8017387454681321
+      ],
+      "rotation_wxyz": [
+        0.841611725097054,
+        -0.00039258019504029464,
+        0.0003272011716092056,
+        0.5400828112422621
+      ],
+      "yaw_degrees_local": 65.31985187139861,
+      "yaw_radians": 1.1410710223799752,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7112341531454769,
+        8.353754145838476,
+        0.8623656119233917
+      ],
+      "z_min": 0.7410642546660497,
+      "z_max": 0.862317987576569
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.4092436122962604,
+        8.457883460860407,
+        0.7880665516036893
+      ],
+      "rotation_wxyz": [
+        0.34337094389873973,
+        -0.00011463007102768713,
+        0.0004980359053888585,
+        0.939199730465396
+      ],
+      "yaw_degrees_local": 139.77651649504173,
+      "yaw_radians": 2.440585358690908,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4092436122962604,
+        8.457883460860407,
+        0.8354326782649443
+      ],
+      "z_min": 0.7407434966889396,
+      "z_max": 0.8354757500114496
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_034_hallway_asset_000106_obj_001_closed_book_dark_cover_726f1aa1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12027584687710438,
+        0.17582722148749907,
+        0.022221431277123893
+      ],
+      "bbox_min_m": [
+        -0.060292053851292125,
+        -0.0879992159381936,
+        -0.011119296335387484
+      ],
+      "bbox_max_m": [
+        0.05998379302581226,
+        0.08782800554930544,
+        0.011102134941736388
+      ],
+      "translation_world": [
+        3.2305280498861677,
+        8.365510584474054,
+        0.7519791051184762
+      ],
+      "rotation_wxyz": [
+        0.9998900138266176,
+        -0.0005079991780384457,
+        5.582697692492459e-05,
+        -0.014822249154253305
+      ],
+      "yaw_degrees_local": -1.7572774794205657,
+      "yaw_radians": -0.02964563690391459,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2305280498861677,
+        8.365510584474054,
+        0.7630898207570381
+      ],
+      "z_min": 0.7408598087830888,
+      "z_max": 0.7630812400602126
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.6188118988984095,
+        8.43929176378058,
+        0.7404320793415075
+      ],
+      "rotation_wxyz": [
+        0.9880835012998552,
+        -0.0004913221242169696,
+        0.00014064987200576264,
+        0.15391794333086473
+      ],
+      "yaw_degrees_local": 17.649383742410635,
+      "yaw_radians": 0.30906434830601376,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6188118988984095,
+        8.43929176378058,
+        0.7492441467460133
+      ],
+      "z_min": 0.7407357755713285,
+      "z_max": 0.7583599103803401
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        3.702577855720014,
+        8.841622229189547,
+        0.750338803669861
+      ],
+      "rotation_wxyz": [
+        0.8971308712254923,
+        -0.00048293540555821335,
+        -0.0001671921358755745,
+        -0.44176457385622614
+      ],
+      "yaw_degrees_local": -52.49176217648808,
+      "yaw_radians": -0.9151291288677994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.702577855720014,
+        8.841622229189547,
+        0.7603761546506798
+      ],
+      "z_min": 0.7403171112203589,
+      "z_max": 0.7603918131819963
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        2.5220975175418525,
+        8.253360676998007,
+        0.787075938834609
+      ],
+      "rotation_wxyz": [
+        0.834242032562468,
+        -0.00045798882153333143,
+        -0.00022677313683684605,
+        -0.551398195432508
+      ],
+      "yaw_degrees_local": -66.98469629074803,
+      "yaw_radians": -1.1680785815298718,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5220975175418525,
+        8.253360676998007,
+        0.8332743533354888
+      ],
+      "z_min": 0.7410633319969923,
+      "z_max": 0.833460160998752
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.528321409189488,
+        8.63862144214952,
+        0.7487122300370479
+      ],
+      "rotation_wxyz": [
+        0.4878051120645552,
+        -0.0001920717460498467,
+        0.00047359081558838944,
+        0.8729524107669735
+      ],
+      "yaw_degrees_local": 121.54844168031912,
+      "yaw_radians": 2.122445453056341,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.528321409189488,
+        8.63862144214952,
+        0.7569482367891887
+      ],
+      "z_min": 0.7405450786688849,
+      "z_max": 0.7570170921731663
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.415794871847787,
+        8.834526899498623,
+        0.7965205875281379
+      ],
+      "rotation_wxyz": [
+        0.8040306485842142,
+        -0.0003700693213099849,
+        0.0003524606554858,
+        0.5945876343798546
+      ],
+      "yaw_degrees_local": 72.9077827874521,
+      "yaw_radians": 1.2735054615097285,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.415794871847787,
+        8.834526899498623,
+        0.8527028673380306
+      ],
+      "z_min": 0.7403606673581737,
+      "z_max": 0.852725226977959
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        4.880949126458194,
+        8.185398904479394,
+        0.9677798320086315
+      ],
+      "rotation_wxyz": [
+        -0.6917202205865296,
+        0.0,
+        0.0,
+        0.7221655879586919
+      ],
+      "yaw_degrees_local": 177.53286791569263,
+      "yaw_radians": -1.6138559047476508,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.880949126458194,
+        8.185398904479394,
+        1.015178757436732
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0149978797525328
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        1.7686122573958414,
+        8.539361089933156,
+        0.7439896354947011
+      ],
+      "rotation_wxyz": [
+        0.6084535926399524,
+        -0.0002582822123644678,
+        0.00044098765857609735,
+        0.7935892920293967
+      ],
+      "yaw_degrees_local": 104.98573522199916,
+      "yaw_radians": 1.8333716198829952,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7686122573958414,
+        8.539361089933156,
+        0.7470021519798605
+      ],
+      "z_min": 0.7408687061972357,
+      "z_max": 0.7468937391675544
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.729260546035023,
+        8.28770304304148,
+        0.7676014755083822
+      ],
+      "rotation_wxyz": [
+        0.8868500703855465,
+        -0.00042046425794515146,
+        0.00029049892259859717,
+        0.4620570218894364
+      ],
+      "yaw_degrees_local": 54.98114382211892,
+      "yaw_radians": 0.9606264606237612,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.729260546035023,
+        8.28770304304148,
+        0.7941759601644562
+      ],
+      "z_min": 0.7410022429357165,
+      "z_max": 0.7941512122478644
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.122393284254146,
+        8.26600283833311,
+        0.7750440883390513
+      ],
+      "rotation_wxyz": [
+        0.9973498382088923,
+        -0.0005011630573749367,
+        0.00010007700116869273,
+        0.07275327514882272
+      ],
+      "yaw_degrees_local": 8.28557406841827,
+      "yaw_radians": 0.145635103789457,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.122393284254146,
+        8.26600283833311,
+        0.8090426445097301
+      ],
+      "z_min": 0.7409744455254255,
+      "z_max": 0.8089715578667831
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.7123445861566466,
+        8.69220582541522,
+        0.8011419339502789
+      ],
+      "rotation_wxyz": [
+        0.8424945127069794,
+        -0.00039311517593235184,
+        0.0003265582255769844,
+        0.5387046824363172
+      ],
+      "yaw_degrees_local": 65.13230801030846,
+      "yaw_radians": 1.1377977631146938,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7123445861566466,
+        8.69220582541522,
+        0.8617688004055385
+      ],
+      "z_min": 0.7404674431481966,
+      "z_max": 0.8617211760587158
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        1.9263697732546534,
+        8.859350182500163,
+        0.7486913289132383
+      ],
+      "rotation_wxyz": [
+        0.74180580524238,
+        -0.0003336977633981617,
+        0.00038707314417739847,
+        0.6706145585423031
+      ],
+      "yaw_degrees_local": 84.17033202619774,
+      "yaw_radians": 1.470074128776126,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9263697732546534,
+        8.859350182500163,
+        0.756927335665379
+      ],
+      "z_min": 0.7405241775450753,
+      "z_max": 0.7569961910493567
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        1.8420201404520733,
+        8.314602768091309,
+        0.8123699379334531
+      ],
+      "rotation_wxyz": [
+        0.6470796175125995,
+        -0.0002798445341243075,
+        0.00042762934062229866,
+        0.7624222631979815
+      ],
+      "yaw_degrees_local": 99.29772145522071,
+      "yaw_radians": 1.7340970113169663,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8420201404520733,
+        8.314602768091309,
+        0.8838481846635211
+      ],
+      "z_min": 0.7410873980632425,
+      "z_max": 0.8840438915233785
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.376956951158997,
+        8.642853066695562,
+        0.7501094948316293
+      ],
+      "rotation_wxyz": [
+        0.37936683721303555,
+        -0.0001337681262498981,
+        0.0004932402098774024,
+        0.9252462059598852
+      ],
+      "yaw_degrees_local": 135.35234621342386,
+      "yaw_radians": 2.363369034050239,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.376956951158997,
+        8.642853066695562,
+        0.7596133277538337
+      ],
+      "z_min": 0.7405599655876303,
+      "z_max": 0.759567631432039
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.9412188824318652,
+        8.546830766743472,
+        0.7408392561326922
+      ],
+      "rotation_wxyz": [
+        0.14427813226623773,
+        -1.0478033363828536e-05,
+        0.0005109501218877818,
+        0.9895370429498584
+      ],
+      "yaw_degrees_local": 163.35032805919207,
+      "yaw_radians": 2.852025833742743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9412188824318652,
+        8.546830766743472,
+        0.7633362678464752
+      ],
+      "z_min": 0.7408392591276267,
+      "z_max": 0.7858332825551928
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        2.0240960367442193,
+        8.339286007204937,
+        0.7562449421311893
+      ],
+      "rotation_wxyz": [
+        0.9049666611668943,
+        -0.00043196850665617017,
+        0.0002730989298725847,
+        0.42548217471079525
+      ],
+      "yaw_degrees_local": 50.303671244867246,
+      "yaw_radians": 0.8789891424105135,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0240960367442193,
+        8.339286007204937,
+        0.7714134190837207
+      ],
+      "z_min": 0.741039265015526,
+      "z_max": 0.7713762189205888
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.4268875575140134,
+        8.28405767357441,
+        0.7999159978274896
+      ],
+      "rotation_wxyz": [
+        0.5122030526401105,
+        -0.00031415585695652515,
+        -0.00040309541523096475,
+        -0.8588642335586785
+      ],
+      "yaw_degrees_local": -118.43733008173719,
+      "yaw_radians": -2.0660968535802016,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4268875575140134,
+        8.28405767357441,
+        0.8590422758600097
+      ],
+      "z_min": 0.7409175669867835,
+      "z_max": 0.8591701230518237
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.0930202577445027,
+        8.880877556796605,
+        0.7448014975292777
+      ],
+      "rotation_wxyz": [
+        0.6918939226364108,
+        -0.00030513141978228314,
+        0.0004099690633474198,
+        0.7219989879764267
+      ],
+      "yaw_degrees_local": 92.3808415104171,
+      "yaw_radians": 1.6133746257921378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0930202577445027,
+        8.880877556796605,
+        0.7489380988894048
+      ],
+      "z_min": 0.7404812269768103,
+      "z_max": 0.7487544296970644
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        2.814455394673605,
+        8.316012207223494,
+        0.818330280474412
+      ],
+      "rotation_wxyz": [
+        0.5015672107936302,
+        -0.0001995470064783201,
+        0.0004704899663604463,
+        0.865118530536066
+      ],
+      "yaw_degrees_local": 119.73380068334302,
+      "yaw_radians": 2.0907739888153016,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.814455394673605,
+        8.316012207223494,
+        0.8957120356077515
+      ],
+      "z_min": 0.7409627631070287,
+      "z_max": 0.8957262733737076
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.5553762556415123,
+        8.88263022503758,
+        0.7457843316330511
+      ],
+      "rotation_wxyz": [
+        0.9168578268975165,
+        -0.0004396628377509365,
+        0.000260531006486956,
+        0.3992135569804059
+      ],
+      "yaw_degrees_local": 46.99934275724024,
+      "yaw_radians": 0.8213177196201054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5553762556415123,
+        8.88263022503758,
+        0.7511197723280519
+      ],
+      "z_min": 0.740420868886241,
+      "z_max": 0.7510917502762426
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.274754911970932,
+        8.89643677375631,
+        0.7461322217787184
+      ],
+      "rotation_wxyz": [
+        0.9894512361217352,
+        -0.0005109438129270025,
+        -1.0781292683569645e-05,
+        -0.14486542084760665
+      ],
+      "yaw_degrees_local": -16.717684786435598,
+      "yaw_radians": -0.29075386735064984,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.274754911970932,
+        8.89643677375631,
+        0.7519632728035046
+      ],
+      "z_min": 0.7404424210493937,
+      "z_max": 0.7521045230989661
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000047_analog_alarm_clock_001_analog_alarm_clock_654ce33b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10164242570532228,
+        0.038600348224665626,
+        0.14035273246383773
+      ],
+      "bbox_min_m": [
+        -0.05082228199974879,
+        -0.019056543982842376,
+        -0.0701716721402201
+      ],
+      "bbox_max_m": [
+        0.05082014370557351,
+        0.019543804241823233,
+        0.07018106032361764
+      ],
+      "translation_world": [
+        3.023780119947021,
+        8.903134694680755,
+        0.8105124312923643
+      ],
+      "rotation_wxyz": [
+        0.992636998621544,
+        -0.0005110554639135904,
+        1.4591245243236197e-06,
+        -0.12112608219453377
+      ],
+      "yaw_degrees_local": -13.972905098234577,
+      "yaw_radians": -0.24284844855463572,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.023780119947021,
+        8.903134694680755,
+        0.8806887975242832
+      ],
+      "z_min": 0.7403407591521441,
+      "z_max": 0.8806934916159819
+    }
+  ],
+  "variant_index": 169
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0170/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0170/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..47764425b2c63f817ac532e56e2773cb292d0e9b
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0170/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8350524757610669607
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.000787509173, 6.29511573e-05, 0.000507165622, 0.999999559)
+            double3 xformOp:translate = (2.63361651765, 8.27895331393, 0.740719525115)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.53134381, -0.000323120725, -0.000395945468, -0.847156122)
+            double3 xformOp:translate = (3.56543428917, 8.46157365822, 0.740719936724)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.834392324, -0.000458050628, -0.000226648271, -0.551170743)
+            double3 xformOp:translate = (2.13072000286, 8.30913242992, 0.752863715286)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.140334947, -8.44246685e-06, 0.000510987809, 0.990103955)
+            double3 xformOp:translate = (2.33522367373, 8.90027829441, 0.804679366718)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.11089264, 0, 0, 0.993832392)
+            double3 xformOp:translate = (4.89544758049, 8.77181248976, 1.06183489214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.241304968, -0.000183848084, -0.000476843474, -0.970449201)
+            double3 xformOp:translate = (3.66669580648, 8.77872307924, 0.749934980855)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.329410565, 0, 0, 0.944186782)
+            double3 xformOp:translate = (4.83465214877, 8.70624162074, 0.95426967171)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.841271689, -0.000392374213, 0.000327448154, 0.540612323)
+            double3 xformOp:translate = (1.84281275526, 8.80806210853, 0.749763708333)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.773137776, -0.000351891187, 0.000370610859, 0.634237903)
+            double3 xformOp:translate = (3.76786927667, 8.55693677946, 0.745961036181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.976172667, -0.000508779462, -4.82003619e-05, -0.216994614)
+            double3 xformOp:translate = (2.35087302821, 8.27799343748, 0.78765027716)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.264241148, -7.29020583e-05, 0.000505831104, 0.964456507)
+            double3 xformOp:translate = (3.48914809973, 8.58019021104, 0.813381557355)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.150124335, -0.000138763037, -0.000491858349, -0.988666993)
+            double3 xformOp:translate = (3.25179400274, 8.20868258641, 0.800014630216)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.646526164, -0.000376193334, -0.000345916741, -0.762891642)
+            double3 xformOp:translate = (3.34121185363, 8.50864627055, 0.746064071943)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.386834964, -0.000137751554, 0.000492142587, 0.922148822)
+            double3 xformOp:translate = (3.49558079775, 8.75466038036, 0.811714109355)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0175081074, 5.44621845e-05, 0.000508147308, 0.999846591)
+            double3 xformOp:translate = (3.22627341551, 8.33720114628, 0.754988195855)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.606016345, -0.000357712877, -0.000364994951, -0.795452028)
+            double3 xformOp:translate = (1.68130397729, 8.72170258814, 0.740694830009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.412281272, -0.000151358489, 0.000488129516, 0.91105647)
+            double3 xformOp:translate = (1.70840541265, 8.42811487777, 0.78033514684)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.557027118, -0.000335089595, -0.000385868863, -0.830494147)
+            double3 xformOp:translate = (2.75111972719, 8.8438801548, 0.767034613203)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0507836522, 3.75155924e-05, 0.000509678719, 0.998709547)
+            double3 xformOp:translate = (3.34908903209, 8.85598838305, 0.881982260023)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0784211638, -0.000102924059, -0.000500586111, -0.996920187)
+            double3 xformOp:translate = (2.44192120449, 8.85992107361, 0.74614807702)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.301998055, 0, 0, 0.953308541)
+            double3 xformOp:translate = (4.88442755107, 8.14466478441, 0.931443121956)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.936057266, -0.000452399857, 0.000237727125, 0.351847317)
+            double3 xformOp:translate = (3.00045516382, 8.31290859134, 0.818309861882)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.296113318, -0.00021067323, -0.000465614225, -0.95515268)
+            double3 xformOp:translate = (3.01559202791, 8.85310910766, 0.805696845093)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970994351, 0, 0, 0.239102427)
+            double3 xformOp:translate = (4.97130763781, 8.48472762769, 0.998159830662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.118251858, -0.000122873449, -0.000496066459, -0.992983503)
+            double3 xformOp:translate = (3.43022046133, 8.20827658293, 0.857833614139)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.141022111, -8.79712457e-06, 0.000510981826, 0.990006315)
+            double3 xformOp:translate = (2.93290607633, 8.23114596244, 0.857873429568)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0887658682, -0.000108115048, -0.000499490693, -0.996052388)
+            double3 xformOp:translate = (1.80731651031, 8.36790303994, 0.797197648472)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.980007405, -0.000509581639, -3.88119716e-05, -0.198960361)
+            double3 xformOp:translate = (2.07944558499, 8.87614909678, 0.750509438087)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.905348988, -0.000486019869, -0.000158001592, -0.424668046)
+            double3 xformOp:translate = (3.69758342283, 8.59528006387, 0.774637247547)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.294727405, -8.89243789e-05, 0.000503261633, 0.955581235)
+            double3 xformOp:translate = (1.82571959186, 8.59604348427, 0.740803979896)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0170/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0170/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb46b37da9d8afdfe77db0d21f2a8aa3e14155d
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0170/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8350524757610669607,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 7,
+    "small object": 7,
+    "electronics": 5,
+    "office_supply": 2,
+    "electronics accessory": 1,
+    "office_supplies": 1,
+    "paper_goods": 1,
+    "small prop": 1,
+    "clock": 2
+  },
+  "failed_sampling_attempt_count": 196,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        2.6336165176501085,
+        8.27895331393438,
+        0.7407195251152453
+      ],
+      "rotation_wxyz": [
+        0.0007875091733843987,
+        6.295115727775453e-05,
+        0.0005071656219004833,
+        0.9999995593246458
+      ],
+      "yaw_degrees_local": 179.8510476556982,
+      "yaw_radians": 3.140017571420179,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6336165176501085,
+        8.27895331393438,
+        0.7495315925197511
+      ],
+      "z_min": 0.7410232213450664,
+      "z_max": 0.758647356154078
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.565434289171546,
+        8.461573658215316,
+        0.7407199367236801
+      ],
+      "rotation_wxyz": [
+        0.5313438096099194,
+        -0.000323120724989221,
+        -0.00039594546761233777,
+        -0.8471561218626716
+      ],
+      "yaw_degrees_local": -115.86610969765411,
+      "yaw_radians": -2.0212205741177702,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.565434289171546,
+        8.461573658215316,
+        0.7632169484374631
+      ],
+      "z_min": 0.7407199397186146,
+      "z_max": 0.7857139631461807
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        2.130720002856404,
+        8.309132429921435,
+        0.7528637152861644
+      ],
+      "rotation_wxyz": [
+        0.8343923244059981,
+        -0.0004580506276815948,
+        -0.000226648270941584,
+        -0.551170742866981
+      ],
+      "yaw_degrees_local": -66.9534562005294,
+      "yaw_radians": -1.1675333389563445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.130720002856404,
+        8.309132429921435,
+        0.764551040238831
+      ],
+      "z_min": 0.7410563365927653,
+      "z_max": 0.7644309864980986
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.3352236737250993,
+        8.900278294407537,
+        0.8046793667176435
+      ],
+      "rotation_wxyz": [
+        0.14033494666930124,
+        -8.442466847201384e-06,
+        0.0005109878090462105,
+        0.9901039549277179
+      ],
+      "yaw_degrees_local": 163.80683021082734,
+      "yaw_radians": 2.8599932953840796,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3352236737250993,
+        8.900278294407537,
+        0.868868320805364
+      ],
+      "z_min": 0.7404308939843771,
+      "z_max": 0.868808802159818
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        4.8954475804897095,
+        8.771812489758798,
+        1.0618348921354523
+      ],
+      "rotation_wxyz": [
+        -0.11089263988774622,
+        0.0,
+        0.0,
+        0.9938323915121335
+      ],
+      "yaw_degrees_local": 102.73354978560263,
+      "yaw_radians": -2.9193502843644095,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8954475804897095,
+        8.771812489758798,
+        1.2033956793312037
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2033216032878347
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.6666958064824815,
+        8.778723079242507,
+        0.7499349808553659
+      ],
+      "rotation_wxyz": [
+        0.24130496790277567,
+        -0.00018384808400916266,
+        -0.0004768434735282349,
+        -0.9704492007754061
+      ],
+      "yaw_degrees_local": -152.13155985723165,
+      "yaw_radians": -2.6541721711597432,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6666958064824815,
+        8.778723079242507,
+        0.7594388137775704
+      ],
+      "z_min": 0.7403854516113669,
+      "z_max": 0.7593931174557756
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        4.8346521487652465,
+        8.706241620743953,
+        0.9542696717099576
+      ],
+      "rotation_wxyz": [
+        -0.32941056536225555,
+        0.0,
+        0.0,
+        0.9441867820657729
+      ],
+      "yaw_degrees_local": 128.46600624529884,
+      "yaw_radians": -2.470234194516627,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.8346521487652465,
+        8.706241620743953,
+        0.9882682278806364
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9881971412376894
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_beige_closed_notebook_001_beige_closed_notebook_e7c6ff66/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.17833628091672266,
+        0.24234621388359467,
+        0.017836933528484637
+      ],
+      "bbox_min_m": [
+        -0.08903270824870184,
+        -0.12116652095847395,
+        -0.009176925477404214
+      ],
+      "bbox_max_m": [
+        0.0893035726680208,
+        0.12117969292512071,
+        0.008660008051080373
+      ],
+      "translation_world": [
+        1.8428127552562434,
+        8.808062108527249,
+        0.749763708332683
+      ],
+      "rotation_wxyz": [
+        0.8412716894568274,
+        -0.0003923742127095455,
+        0.00032744815382114613,
+        0.5406123225922983
+      ],
+      "yaw_degrees_local": 65.39196325902722,
+      "yaw_radians": 1.142329604061277,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8428127552562434,
+        8.808062108527249,
+        0.7586821750969254
+      ],
+      "z_min": 0.7405867828552788,
+      "z_max": 0.7584237163837634
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.7678692766651527,
+        8.556936779462877,
+        0.7459610361812529
+      ],
+      "rotation_wxyz": [
+        0.7731377761103838,
+        -0.0003518911866525344,
+        0.0003706108592534544,
+        0.6342379032912444
+      ],
+      "yaw_degrees_local": 78.66826999723884,
+      "yaw_radians": 1.3740449806970485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7678692766651527,
+        8.556936779462877,
+        0.7512964768762537
+      ],
+      "z_min": 0.7405975734344428,
+      "z_max": 0.7512684548244444
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.3508730282087327,
+        8.277993437478758,
+        0.7876502771597655
+      ],
+      "rotation_wxyz": [
+        0.9761726673084308,
+        -0.0005087794623934847,
+        -4.8200361896040986e-05,
+        -0.2169946138044164
+      ],
+      "yaw_degrees_local": -25.123860290423693,
+      "yaw_radians": -0.43746923964980405,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3508730282087327,
+        8.277993437478758,
+        0.8342318804256835
+      ],
+      "z_min": 0.7410600432950655,
+      "z_max": 0.8342232498269014
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.4891480997252122,
+        8.580190211039655,
+        0.8133815573548132
+      ],
+      "rotation_wxyz": [
+        0.2642411478695942,
+        -7.290205829976194e-05,
+        0.0005058311043579375,
+        0.9644565073619148
+      ],
+      "yaw_degrees_local": 149.29755234988903,
+      "yaw_radians": 2.606758734953667,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4891480997252122,
+        8.580190211039655,
+        0.886244001961557
+      ],
+      "z_min": 0.7406093385529368,
+      "z_max": 0.8863342277664241
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.251794002737901,
+        8.208682586406312,
+        0.8000146302158359
+      ],
+      "rotation_wxyz": [
+        0.15012433509945933,
+        -0.0001387630372493839,
+        -0.0004918583492568147,
+        -0.9886669928904925
+      ],
+      "yaw_degrees_local": -162.790444095412,
+      "yaw_radians": -2.8402047465765485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.251794002737901,
+        8.208682586406312,
+        0.859140908248356
+      ],
+      "z_min": 0.7410161993751297,
+      "z_max": 0.85926875544017
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.3412118536254676,
+        8.508646270547267,
+        0.7460640719427901
+      ],
+      "rotation_wxyz": [
+        0.6465261644463635,
+        -0.0003761933343963574,
+        -0.000345916740554809,
+        -0.7628916420478453
+      ],
+      "yaw_degrees_local": -99.4983003200493,
+      "yaw_radians": -1.7355482717197668,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3412118536254676,
+        8.508646270547267,
+        0.7513995126377909
+      ],
+      "z_min": 0.74070060919598,
+      "z_max": 0.7513714905859816
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        3.4955807977497084,
+        8.754660380361962,
+        0.8117141093552328
+      ],
+      "rotation_wxyz": [
+        0.38683496413430823,
+        -0.00013775155355235673,
+        0.0004921425867919021,
+        0.9221488216895322
+      ],
+      "yaw_degrees_local": 134.42587447086345,
+      "yaw_radians": 2.347199053778779,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4955807977497084,
+        8.754660380361962,
+        0.8831923560853008
+      ],
+      "z_min": 0.7404315694850222,
+      "z_max": 0.8833880629451581
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_003_living_room_asset_000045_obj_001_black_tv_remote_01_b5306b7a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2883829102503718,
+        0.06877351886690128,
+        0.028183850583188473
+      ],
+      "bbox_min_m": [
+        -0.1442632465439773,
+        -0.034229523199628804,
+        -0.014099134105329923
+      ],
+      "bbox_max_m": [
+        0.14411966370639454,
+        0.03454399566727249,
+        0.014084716477858535
+      ],
+      "translation_world": [
+        3.2262734155059016,
+        8.337201146277769,
+        0.7549881958550515
+      ],
+      "rotation_wxyz": [
+        0.017508107367046766,
+        5.446218449231114e-05,
+        0.000508147308071821,
+        0.9998465907311022
+      ],
+      "yaw_degrees_local": 177.93490548691972,
+      "yaw_radians": 3.106574598713799,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2262734155059016,
+        8.337201146277769,
+        0.7690801211466457
+      ],
+      "z_min": 0.7408890617497216,
+      "z_max": 0.7690729123329101
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.6813039772899887,
+        8.721702588142222,
+        0.7406948300091436
+      ],
+      "rotation_wxyz": [
+        0.6060163446934538,
+        -0.0003577128765646069,
+        -0.0003649949508968403,
+        -0.7954520279593037
+      ],
+      "yaw_degrees_local": -105.45467344324294,
+      "yaw_radians": -1.839506647478699,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.6813039772899887,
+        8.721702588142222,
+        0.7906949238864591
+      ],
+      "z_min": 0.7406948300091436,
+      "z_max": 0.8406950177637746
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        1.7084054126493453,
+        8.428114877773575,
+        0.7803351468403472
+      ],
+      "rotation_wxyz": [
+        0.41228127218554855,
+        -0.00015135848890615925,
+        0.0004881295156783256,
+        0.9110564699431367
+      ],
+      "yaw_degrees_local": 131.24483973415408,
+      "yaw_radians": 2.2916795290510077,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7084054126493453,
+        8.428114877773575,
+        0.8196840061662231
+      ],
+      "z_min": 0.7409891828824109,
+      "z_max": 0.8196869015341626
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.7511197271935854,
+        8.843880154803038,
+        0.7670346132025692
+      ],
+      "rotation_wxyz": [
+        0.5570271178714739,
+        -0.00033508959527356113,
+        -0.0003858688629310658,
+        -0.8304941473460142
+      ],
+      "yaw_degrees_local": -112.35779750825857,
+      "yaw_radians": -1.9599889486828221,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7511197271935854,
+        8.843880154803038,
+        0.7936090978586432
+      ],
+      "z_min": 0.7404353806299034,
+      "z_max": 0.7935843499420514
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        3.34908903208638,
+        8.855988383052376,
+        0.8819822600234192
+      ],
+      "rotation_wxyz": [
+        0.050783652245868005,
+        3.751559240000174e-05,
+        0.0005096787189663597,
+        0.9987095471080443
+      ],
+      "yaw_degrees_local": 174.11940668598015,
+      "yaw_radians": 3.0399816165737947,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.34908903208638,
+        8.855988383052376,
+        1.0235430472191707
+      ],
+      "z_min": 0.7403473967842986,
+      "z_max": 1.0234689711758016
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.441921204488323,
+        8.859921073606865,
+        0.7461480770202316
+      ],
+      "rotation_wxyz": [
+        0.07842116376010837,
+        -0.0001029240593045404,
+        -0.0005005861107307993,
+        -0.9969201873242884
+      ],
+      "yaw_degrees_local": -171.06306935970514,
+      "yaw_radians": -2.9845892380753463,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.441921204488323,
+        8.859921073606865,
+        0.7519791280450178
+      ],
+      "z_min": 0.7404582762909069,
+      "z_max": 0.7521203783404793
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        4.884427551068936,
+        8.144664784414807,
+        0.931443121956281
+      ],
+      "rotation_wxyz": [
+        0.30199805515238937,
+        0.0,
+        0.0,
+        0.9533085411786546
+      ],
+      "yaw_degrees_local": 54.84469891216506,
+      "yaw_radians": 2.5280169000771298,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.884427551068936,
+        8.144664784414807,
+        0.9426761211801932
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9426660273441562
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.0004551638231005,
+        8.312908591337491,
+        0.8183098618823614
+      ],
+      "rotation_wxyz": [
+        0.9360572655752042,
+        -0.00045239985651788123,
+        0.0002377271252148418,
+        0.3518473168635161
+      ],
+      "yaw_degrees_local": 41.14198913400125,
+      "yaw_radians": 0.7190876019029225,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0004551638231005,
+        8.312908591337491,
+        0.8956916170157009
+      ],
+      "z_min": 0.7409423445149781,
+      "z_max": 0.895705854781657
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.015592027908417,
+        8.853109107662732,
+        0.8056968450926149
+      ],
+      "rotation_wxyz": [
+        0.2961133178636194,
+        -0.0002106732298920259,
+        -0.00046561422491927184,
+        -0.9551526798391884
+      ],
+      "yaw_degrees_local": -145.6100881997674,
+      "yaw_radians": -2.5403510323932266,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.015592027908417,
+        8.853109107662732,
+        0.8710525694542564
+      ],
+      "z_min": 0.7403925316101123,
+      "z_max": 0.8711039803333953
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        4.971307637813949,
+        8.484727627690203,
+        0.9981598306620916
+      ],
+      "rotation_wxyz": [
+        0.9709943507617546,
+        0.0,
+        0.0,
+        0.23910242740039045
+      ],
+      "yaw_degrees_local": -62.33285806508894,
+      "yaw_radians": 0.4828827213807927,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.971307637813949,
+        8.484727627690203,
+        1.07615335513259
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0761870778373284
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.4302204613256593,
+        8.208276582930297,
+        0.8578336141388658
+      ],
+      "rotation_wxyz": [
+        0.11825185818659649,
+        -0.0001228734488922025,
+        -0.0004960664590532682,
+        -0.9929835028114017
+      ],
+      "yaw_degrees_local": -166.47626249631654,
+      "yaw_radians": -2.9045343895964293,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4302204613256593,
+        8.208276582930297,
+        0.9746924328148383
+      ],
+      "z_min": 0.7409940345386012,
+      "z_max": 0.9747116718905461
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        2.932906076325991,
+        8.231145962436965,
+        0.8578734295680721
+      ],
+      "rotation_wxyz": [
+        0.14102211131882345,
+        -8.797124573654483e-06,
+        0.0005109818263300058,
+        0.9900063145957027
+      ],
+      "yaw_degrees_local": 163.7272959883678,
+      "yaw_radians": 2.858605162023343,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.932906076325991,
+        8.231145962436965,
+        0.9747322482440446
+      ],
+      "z_min": 0.7410338499678075,
+      "z_max": 0.9747514873197524
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.807316510305962,
+        8.367903039942078,
+        0.7971976484718046
+      ],
+      "rotation_wxyz": [
+        0.08876586823298559,
+        -0.00010811504844050271,
+        -0.0004994906931475504,
+        -0.9960523879078992
+      ],
+      "yaw_degrees_local": -169.8734843325946,
+      "yaw_radians": -2.9638270716710693,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.807316510305962,
+        8.367903039942078,
+        0.8533799282816973
+      ],
+      "z_min": 0.7410377283018404,
+      "z_max": 0.8534022879216258
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        2.079445584986158,
+        8.87614909677576,
+        0.7505094380870571
+      ],
+      "rotation_wxyz": [
+        0.9800074049431925,
+        -0.0005095816392888906,
+        -3.8811971606187275e-05,
+        -0.1989603605663537
+      ],
+      "yaw_degrees_local": -23.011054133933698,
+      "yaw_radians": -0.4005938317701005,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.079445584986158,
+        8.87614909677576,
+        0.7605467890678758
+      ],
+      "z_min": 0.7404877456375549,
+      "z_max": 0.7605624475991923
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.697583422831481,
+        8.595280063865369,
+        0.774637247546629
+      ],
+      "rotation_wxyz": [
+        0.9053489877590544,
+        -0.0004860198692400145,
+        -0.00015800159158765393,
+        -0.4246680458709361
+      ],
+      "yaw_degrees_local": -50.31802465780717,
+      "yaw_radians": -0.8771902526282729,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.697583422831481,
+        8.595280063865369,
+        0.8086358037173078
+      ],
+      "z_min": 0.7405676047330032,
+      "z_max": 0.8085647170743608
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.8257195918557252,
+        8.59604348426513,
+        0.740803979895505
+      ],
+      "rotation_wxyz": [
+        0.2947274045993893,
+        -8.892437889210281e-05,
+        0.0005032616328302469,
+        0.955581234536495
+      ],
+      "yaw_degrees_local": 145.65890079916335,
+      "yaw_radians": 2.54325230606469,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8257195918557252,
+        8.59604348426513,
+        0.8908039858559694
+      ],
+      "z_min": 0.740803979895505,
+      "z_max": 1.0408039918164338
+    }
+  ],
+  "variant_index": 170
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0171/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0171/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..06e85807306183b0977d225aebdf494f06b0f16f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0171/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4203956768095253904
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999964484, -0.000506565012, 6.76143863e-05, 0.0084124598)
+            double3 xformOp:translate = (2.06922893529, 8.28006559307, 0.741093601933)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0938655812, 1.54701011e-05, 0.000510823347, 0.995584749)
+            double3 xformOp:translate = (3.5756645791, 8.28516528854, 0.740897562574)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997122235, -0.00051045913, 2.47243399e-05, -0.0758088862)
+            double3 xformOp:translate = (3.19504414227, 8.24144867242, 0.754058626981)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.764390917, -0.000346789386, 0.000375389049, 0.644752871)
+            double3 xformOp:translate = (3.34372947594, 8.46095887722, 0.788126863031)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.229376046, -5.46587776e-05, 0.000508126199, 0.973337746)
+            double3 xformOp:translate = (2.40708351305, 8.86202815049, 0.799459011887)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.172369332, -2.50089094e-05, 0.000510445267, 0.98503226)
+            double3 xformOp:translate = (3.50958383936, 8.76633490306, 0.753796207533)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.579706245, -0.000345597918, -0.000376486249, -0.814825386)
+            double3 xformOp:translate = (1.83375674238, 8.2209583054, 0.78719601591)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.983922744, -0.000510276942, -2.82357645e-05, -0.178593878)
+            double3 xformOp:translate = (1.80724459614, 8.76001267063, 0.835513563734)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.200292546, -0.000163638354, -0.000484151118, -0.979736003)
+            double3 xformOp:translate = (1.73392310548, 8.33095890061, 0.746774271629)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics accessory"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979535913, -0.000483987802, 0.000164120758, 0.201268812)
+            double3 xformOp:translate = (3.67149095916, 8.56114063556, 0.749425026792)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.883422207, -0.000418312853, 0.000293588441, 0.468577574)
+            double3 xformOp:translate = (3.18520348863, 8.46460722341, 0.746415477869)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.951243331, -0.000462850765, 0.000216677147, 0.308441023)
+            double3 xformOp:translate = (2.58849458827, 8.2207574096, 0.788667790628)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0880633698, 1.84460705e-05, 0.000510724543, 0.996114743)
+            double3 xformOp:translate = (1.94484591103, 8.54131526875, 0.775095451201)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.869276469, -0.000409508149, 0.000305749721, 0.494325964)
+            double3 xformOp:translate = (2.02372887674, 8.69038473745, 0.746046673511)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995868355, 0, 0, -0.0908086951)
+            double3 xformOp:translate = (4.84887183521, 8.17369904987, 1.06183489214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.996123889, -0.000499578014, 0.000107710835, 0.0879598531)
+            double3 xformOp:translate = (1.85407720178, 8.42362707464, 0.746625696446)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.63920423, -0.000275431761, 0.000430484798, 0.769036859)
+            double3 xformOp:translate = (2.32776689692, 8.24964742673, 0.797251645473)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.145097289, -1.0901029e-05, 0.000510941272, 0.989417261)
+            double3 xformOp:translate = (1.941799857, 8.74881855966, 0.793312274408)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.9755225, -0.000480772301, 0.000173314196, 0.219899047)
+            double3 xformOp:translate = (2.90274752615, 8.27668161144, 0.74868761908)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.9812217, -0.000485373961, 0.000159974793, 0.192882642)
+            double3 xformOp:translate = (3.49476118385, 8.22358498445, 0.79364822126)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.307208379, -0.000216077318, -0.000463131093, -0.951642134)
+            double3 xformOp:translate = (3.68406486046, 8.23733791109, 0.805180842496)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.494177738, -0.00019553094, 0.000472173133, 0.869360743)
+            double3 xformOp:translate = (1.7126513934, 8.44908260689, 0.788390432559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.933693717, -0.000496175058, -0.000122434179, -0.358072313)
+            double3 xformOp:translate = (2.55091431652, 8.31308213442, 0.767598331884)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0787595775, 2.32135073e-05, 0.000510530067, 0.996893509)
+            double3 xformOp:translate = (3.61944064467, 8.39989949956, 0.747756656215)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.208707032, -4.38832235e-05, 0.00050916999, 0.977978074)
+            double3 xformOp:translate = (1.77276331554, 8.60496927237, 0.771393653407)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0674812486, -9.74269484e-05, -0.000501684967, -0.997720412)
+            double3 xformOp:translate = (2.17000708578, 8.85344139066, 0.81664886331)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.663016728, -0.000288801866, 0.00042163171, 0.748604407)
+            double3 xformOp:translate = (3.7433032939, 8.40903019718, 0.743871625713)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.479276939, -0.000187448518, 0.000475439659, 0.877663577)
+            double3 xformOp:translate = (1.96665260137, 8.89566316505, 0.882117176828)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.974018758, -0.000479593661, 0.00017654953, 0.22646677)
+            double3 xformOp:translate = (3.2647709437, 8.86835860858, 0.752146026759)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.566437758, -0.000235042165, 0.000453800613, 0.824104366)
+            double3 xformOp:translate = (3.68347302273, 8.71791798069, 0.794355053559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0171/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0171/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7152e2baf3f288ed1edf41612be8c6e8581ff6b4
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0171/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4203956768095253904,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 3,
+    "drinkware": 7,
+    "electronics": 7,
+    "clock": 2,
+    "office_supplies": 1,
+    "electronics accessory": 1,
+    "writing_instrument": 2,
+    "paper goods": 1,
+    "office_supply": 2,
+    "small object": 3,
+    "small_electronics": 1
+  },
+  "failed_sampling_attempt_count": 170,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        2.0692289352881437,
+        8.280065593067512,
+        0.7410936019334524
+      ],
+      "rotation_wxyz": [
+        0.999964484039469,
+        -0.0005065650116276506,
+        6.761438630196066e-05,
+        0.008412459798575616
+      ],
+      "yaw_degrees_local": 0.905297960814238,
+      "yaw_radians": 0.016825047516369776,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0692289352881437,
+        8.280065593067512,
+        0.8910936078939169
+      ],
+      "z_min": 0.7410936019334524,
+      "z_max": 1.0410936138543814
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5756645790975203,
+        8.285165288538792,
+        0.7408975625743048
+      ],
+      "rotation_wxyz": [
+        0.09386558122377746,
+        1.5470101100205125e-05,
+        0.0005108233473640981,
+        0.9955847485180287
+      ],
+      "yaw_degrees_local": 169.1692268918066,
+      "yaw_radians": 2.9535847256359276,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5756645790975203,
+        8.285165288538792,
+        0.7908976564516204
+      ],
+      "z_min": 0.7408975625743048,
+      "z_max": 0.8408977503289359
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.195044142271698,
+        8.241448672418063,
+        0.7540586269810275
+      ],
+      "rotation_wxyz": [
+        0.9971222350291818,
+        -0.0005104591298614563,
+        2.4724339857667856e-05,
+        -0.07580888622445996
+      ],
+      "yaw_degrees_local": -8.75411234567565,
+      "yaw_radians": -0.15176337905082352,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.195044142271698,
+        8.241448672418063,
+        0.7672862765711946
+      ],
+      "z_min": 0.7409901332353168,
+      "z_max": 0.7674454324156509
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_001_black_game_controller_5514ff20/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.24223360960676052,
+        0.16745497491389888,
+        0.09493466547313689
+      ],
+      "bbox_min_m": [
+        -0.12108198546656723,
+        -0.08364467007205444,
+        -0.047378184785108
+      ],
+      "bbox_max_m": [
+        0.12115162414019334,
+        0.08381030484184444,
+        0.04755648068802887
+      ],
+      "translation_world": [
+        3.3437294759374163,
+        8.460958877215553,
+        0.7881268630310988
+      ],
+      "rotation_wxyz": [
+        0.7643909174303904,
+        -0.0003467893861521968,
+        0.00037538904871146033,
+        0.6447528706179678
+      ],
+      "yaw_degrees_local": 80.23560037588561,
+      "yaw_radians": 1.4014000704597138,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3437294759374163,
+        8.460958877215553,
+        0.8355941957676672
+      ],
+      "z_min": 0.7407486782459908,
+      "z_max": 0.8356833437191277
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        2.4070835130469175,
+        8.862028150491186,
+        0.7994590118872661
+      ],
+      "rotation_wxyz": [
+        0.22937604616240104,
+        -5.4658777596427384e-05,
+        0.000508126199159202,
+        0.9733377462459207
+      ],
+      "yaw_degrees_local": 153.4206065139295,
+      "yaw_radians": 2.6787195778523896,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4070835130469175,
+        8.862028150491186,
+        0.8585852899197862
+      ],
+      "z_min": 0.74046058104656,
+      "z_max": 0.8587131371116002
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        3.5095838393634526,
+        8.766334903056483,
+        0.7537962075329614
+      ],
+      "rotation_wxyz": [
+        0.17236933183021425,
+        -2.5008909372977868e-05,
+        0.0005104452670877523,
+        0.9850322595045248
+      ],
+      "yaw_degrees_local": 160.09007560160444,
+      "yaw_radians": 2.795123721416601,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5095838393634526,
+        8.766334903056483,
+        0.7672006449401987
+      ],
+      "z_min": 0.7404179243605262,
+      "z_max": 0.7672267991750008
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_011_kitchen_asset_000025_obj_002_white_ceramic_mug_ce40681f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07664354080998395,
+        0.10448710766856362,
+        0.09239682900175969
+      ],
+      "bbox_min_m": [
+        -0.03833424626051202,
+        -0.052287762533697435,
+        -0.04601260683761673
+      ],
+      "bbox_max_m": [
+        0.038309294549471934,
+        0.05219934513486617,
+        0.04638422216414293
+      ],
+      "translation_world": [
+        1.8337567423765273,
+        8.220958305404558,
+        0.7871960159099441
+      ],
+      "rotation_wxyz": [
+        0.5797062445230357,
+        -0.00034559791769169873,
+        -0.00037648624878934745,
+        -0.8148253855159291
+      ],
+      "yaw_degrees_local": -109.19893158004645,
+      "yaw_radians": -1.9048563120045974,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8337567423765273,
+        8.220958305404558,
+        0.833394430410824
+      ],
+      "z_min": 0.7411834090723274,
+      "z_max": 0.8335802380740871
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.8072445961412957,
+        8.760012670628816,
+        0.8355135637337786
+      ],
+      "rotation_wxyz": [
+        0.9839227436917304,
+        -0.0005102769423005754,
+        -2.823576449625202e-05,
+        -0.17859387802027651
+      ],
+      "yaw_degrees_local": -20.634448904853684,
+      "yaw_radians": -0.3591142643949344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8072445961412957,
+        8.760012670628816,
+        0.9304104097979822
+      ],
+      "z_min": 0.7406400674313639,
+      "z_max": 0.9304337595597711
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        1.7339231054842088,
+        8.330958900614746,
+        0.7467742716290916
+      ],
+      "rotation_wxyz": [
+        0.20029254602153457,
+        -0.0001636383544148435,
+        -0.0004841511181487808,
+        -0.9797360026192748
+      ],
+      "yaw_degrees_local": -156.95057367156966,
+      "yaw_radians": -2.7382798105656563,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7339231054842088,
+        8.330958900614746,
+        0.7526053226538778
+      ],
+      "z_min": 0.7410844708997669,
+      "z_max": 0.7527465729493393
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics accessory",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_003_black_remote_control_709865e4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2252058359427144,
+        0.061396379260668876,
+        0.01760424624678809
+      ],
+      "bbox_min_m": [
+        -0.11260920444830493,
+        -0.03067404507821291,
+        -0.008819503997754862
+      ],
+      "bbox_max_m": [
+        0.1125966314944095,
+        0.03072233418245596,
+        0.008784742249033216
+      ],
+      "translation_world": [
+        3.671490959162782,
+        8.5611406355644,
+        0.7494250267921793
+      ],
+      "rotation_wxyz": [
+        0.9795359127288705,
+        -0.0004839878024219697,
+        0.00016412075842825333,
+        0.20126881152976134
+      ],
+      "yaw_degrees_local": 23.16362362435055,
+      "yaw_radians": 0.4053059613232813,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.671490959162782,
+        8.5611406355644,
+        0.7582271499155733
+      ],
+      "z_min": 0.7406055227944244,
+      "z_max": 0.7582097690412125
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.185203488628248,
+        8.464607223413632,
+        0.7464154778689738
+      ],
+      "rotation_wxyz": [
+        0.8834222072371477,
+        -0.0004183128533442195,
+        0.00029358844147433686,
+        0.4685775737062435
+      ],
+      "yaw_degrees_local": 55.825304156939836,
+      "yaw_radians": 0.9753598423134408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.185203488628248,
+        8.464607223413632,
+        0.7520643290822558
+      ],
+      "z_min": 0.7407650415991869,
+      "z_max": 0.7520627440257511
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.588494588273685,
+        8.220757409600088,
+        0.788667790627561
+      ],
+      "rotation_wxyz": [
+        0.951243330539541,
+        -0.0004628507646622271,
+        0.00021667714667658022,
+        0.3084410234132702
+      ],
+      "yaw_degrees_local": 35.871903265461725,
+      "yaw_radians": 0.6271072504847321,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.588494588273685,
+        8.220757409600088,
+        0.8360667160556614
+      ],
+      "z_min": 0.7410879875152613,
+      "z_max": 0.8358858383714622
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_002_red_game_controller_ab130c25/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15172264740673533,
+        0.10913056711233002,
+        0.06841103942500376
+      ],
+      "bbox_min_m": [
+        -0.07582528549311111,
+        -0.05458832127732909,
+        -0.03425103973487349
+      ],
+      "bbox_max_m": [
+        0.07589736191362421,
+        0.05454224583500091,
+        0.03415999969013022
+      ],
+      "translation_world": [
+        1.9448459110260086,
+        8.54131526875055,
+        0.7750954512008237
+      ],
+      "rotation_wxyz": [
+        0.0880633698335825,
+        1.844607053185775e-05,
+        0.000510724542901794,
+        0.9961147432468499
+      ],
+      "yaw_degrees_local": 169.83688039161035,
+      "yaw_radians": 2.965237471423945,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9448459110260086,
+        8.54131526875055,
+        0.8093009709133255
+      ],
+      "z_min": 0.7408444114659501,
+      "z_max": 0.8092554508909539
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.0237288767381587,
+        8.69038473745491,
+        0.7460466735110864
+      ],
+      "rotation_wxyz": [
+        0.8692764693882945,
+        -0.00040950814945092884,
+        0.0003057497208070489,
+        0.49432596390236816
+      ],
+      "yaw_degrees_local": 59.19192499409016,
+      "yaw_radians": 1.0341184800486987,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0237288767381587,
+        8.69038473745491,
+        0.7513821142060872
+      ],
+      "z_min": 0.7406832107642763,
+      "z_max": 0.751354092154278
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        4.848871835205413,
+        8.173699049874052,
+        1.0618348921354523
+      ],
+      "rotation_wxyz": [
+        0.9958683552013878,
+        0.0,
+        0.0,
+        -0.09080869511496309
+      ],
+      "yaw_degrees_local": -100.42026484746812,
+      "yaw_radians": -0.18186793051814346,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.848871835205413,
+        8.173699049874052,
+        1.2033956793312037
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.2033216032878347
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.8540772017751657,
+        8.423627074639192,
+        0.7466256964464544
+      ],
+      "rotation_wxyz": [
+        0.9961238894117016,
+        -0.0004995780141956964,
+        0.00010771083498236005,
+        0.08795985313475825
+      ],
+      "yaw_degrees_local": 10.033790417419937,
+      "yaw_radians": 0.17614722170327152,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8540772017751657,
+        8.423627074639192,
+        0.7522745476597364
+      ],
+      "z_min": 0.7409752601766675,
+      "z_max": 0.7522729626032317
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.3277668969181935,
+        8.2496474267272,
+        0.7972516454727776
+      ],
+      "rotation_wxyz": [
+        0.6392042304059927,
+        -0.0002754317614146123,
+        0.0004304847976925047,
+        0.7690368590979672
+      ],
+      "yaw_degrees_local": 100.47626408628395,
+      "yaw_radians": 1.7546664694972842,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3277668969181935,
+        8.2496474267272,
+        0.8534339252826703
+      ],
+      "z_min": 0.7410917253028134,
+      "z_max": 0.8534562849225987
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        1.9417998569966743,
+        8.748818559655344,
+        0.7933122744076694
+      ],
+      "rotation_wxyz": [
+        0.14509728887531567,
+        -1.0901029027679467e-05,
+        0.0005109412723654748,
+        0.9894172606040473
+      ],
+      "yaw_degrees_local": 163.25546136379535,
+      "yaw_radians": 2.8503700983751785,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9417998569966743,
+        8.748818559655344,
+        0.8458613032668875
+      ],
+      "z_min": 0.7406343505153268,
+      "z_max": 0.8457324082337631
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        2.9027475261499758,
+        8.276681611439104,
+        0.7486876190795583
+      ],
+      "rotation_wxyz": [
+        0.9755224998581723,
+        -0.00048077230113909903,
+        0.00017331419646909516,
+        0.21989904749826997
+      ],
+      "yaw_degrees_local": 25.3475002332859,
+      "yaw_radians": 0.44342178952939937,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9027475261499758,
+        8.276681611439104,
+        0.7565425254233589
+      ],
+      "z_min": 0.7409914303573379,
+      "z_max": 0.7567012430449391
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.4947611838503616,
+        8.22358498445253,
+        0.793648221260203
+      ],
+      "rotation_wxyz": [
+        0.9812217004000688,
+        -0.0004853739606643611,
+        0.00015997479348104789,
+        0.19288264173891223
+      ],
+      "yaw_degrees_local": 22.183412297327692,
+      "yaw_radians": 0.38819805080909087,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4947611838503616,
+        8.22358498445253,
+        0.846197250119421
+      ],
+      "z_min": 0.7409702973678604,
+      "z_max": 0.8460683550862966
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.684064860455684,
+        8.237337911087769,
+        0.8051808424964663
+      ],
+      "rotation_wxyz": [
+        0.3072083792469999,
+        -0.00021607731754545012,
+        -0.0004631310927617313,
+        -0.9516421336514139
+      ],
+      "yaw_degrees_local": -144.27655611334862,
+      "yaw_radians": -2.5170765079752715,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.684064860455684,
+        8.237337911087769,
+        0.8693697965841868
+      ],
+      "z_min": 0.7409323697631998,
+      "z_max": 0.8693102779386408
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        1.712651393396544,
+        8.449082606891915,
+        0.7883904325589088
+      ],
+      "rotation_wxyz": [
+        0.49417773779808655,
+        -0.00019553094031844574,
+        0.00047217313309685146,
+        0.869360743468987
+      ],
+      "yaw_degrees_local": 120.71019298802969,
+      "yaw_radians": 2.107815251656609,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.712651393396544,
+        8.449082606891915,
+        0.8358429582978892
+      ],
+      "z_min": 0.7409673829854803,
+      "z_max": 0.8358724344634412
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        2.5509143165197052,
+        8.313082134415998,
+        0.7675983318843792
+      ],
+      "rotation_wxyz": [
+        0.9336937171453588,
+        -0.0004961750579082395,
+        -0.0001224341788475255,
+        -0.3580723130646472
+      ],
+      "yaw_degrees_local": -42.02243070696892,
+      "yaw_radians": -0.7324048404707223,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5509143165197052,
+        8.313082134415998,
+        0.7941728165404532
+      ],
+      "z_min": 0.7409990993117135,
+      "z_max": 0.7941480686238614
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.619440644671977,
+        8.399899499563203,
+        0.7477566562145604
+      ],
+      "rotation_wxyz": [
+        0.078759577520244,
+        2.3213507284902537e-05,
+        0.00051053006700864,
+        0.9968935087405358
+      ],
+      "yaw_degrees_local": 170.9067488385498,
+      "yaw_radians": 2.9839101886685353,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.619440644671977,
+        8.399899499563203,
+        0.754739937023401
+      ],
+      "z_min": 0.7407756526156786,
+      "z_max": 0.7547422142333599
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        1.7727633155356326,
+        8.60496927237329,
+        0.7713936534069502
+      ],
+      "rotation_wxyz": [
+        0.2087070321374854,
+        -4.388322348791169e-05,
+        0.0005091699902160599,
+        0.9779780741696342
+      ],
+      "yaw_degrees_local": 155.84810281346586,
+      "yaw_radians": 2.7210873630450148,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7727633155356326,
+        8.60496927237329,
+        0.8019960549123429
+      ],
+      "z_min": 0.7408016526735747,
+      "z_max": 0.8020064556843602
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.170007085777078,
+        8.853441390664521,
+        0.816648863309882
+      ],
+      "rotation_wxyz": [
+        0.06748124856040233,
+        -9.74269483957988e-05,
+        -0.0005016849668532982,
+        -0.9977204116950366
+      ],
+      "yaw_degrees_local": -172.32004705176766,
+      "yaw_radians": -3.006527627601329,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.170007085777078,
+        8.853441390664521,
+        0.8928348018319681
+      ],
+      "z_min": 0.7404993368226797,
+      "z_max": 0.892871213866852
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.7433032939031547,
+        8.4090301971772,
+        0.7438716257130388
+      ],
+      "rotation_wxyz": [
+        0.6630167276952827,
+        -0.00028880186572052477,
+        0.00042163170966692787,
+        0.7486044066237009
+      ],
+      "yaw_degrees_local": 96.88056943087724,
+      "yaw_radians": 1.6919097309961357,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7433032939031547,
+        8.4090301971772,
+        0.7468841421981982
+      ],
+      "z_min": 0.7407506964155733,
+      "z_max": 0.7467757293858921
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        1.9666526013700427,
+        8.895663165052657,
+        0.8821171768275602
+      ],
+      "rotation_wxyz": [
+        0.47927693875026406,
+        -0.00018744851832765188,
+        0.0004754396588601761,
+        0.8776635772335318
+      ],
+      "yaw_degrees_local": 122.6649046303429,
+      "yaw_radians": 2.1419314095273982,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9666526013700427,
+        8.895663165052657,
+        1.0236779640233116
+      ],
+      "z_min": 0.7404823135884396,
+      "z_max": 1.0236038879799425
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_003_tv_remote_black_5b890ee8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.19924581525709506,
+        0.05704988570518264,
+        0.02374254109313948
+      ],
+      "bbox_min_m": [
+        -0.0996042200629379,
+        -0.02854069071113761,
+        -0.011800560879449367
+      ],
+      "bbox_max_m": [
+        0.09964159519415713,
+        0.028509194994045015,
+        0.011941980213690095
+      ],
+      "translation_world": [
+        3.2647709436950025,
+        8.868358608576825,
+        0.7521460267590163
+      ],
+      "rotation_wxyz": [
+        0.9740187580048643,
+        -0.0004795936608656224,
+        0.00017654953043784333,
+        0.2264667699130397
+      ],
+      "yaw_degrees_local": 26.11958207622203,
+      "yaw_radians": 0.45689715690104105,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2647709436950025,
+        8.868358608576825,
+        0.7640172973055861
+      ],
+      "z_min": 0.740345465879567,
+      "z_max": 0.7640880069727064
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.6834730227277577,
+        8.71791798069474,
+        0.7943550535587421
+      ],
+      "rotation_wxyz": [
+        0.5664377575252972,
+        -0.00023504216545216082,
+        0.0004538006133753806,
+        0.8241043657631578
+      ],
+      "yaw_degrees_local": 110.93689641988561,
+      "yaw_radians": 1.9372390117113396,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6834730227277577,
+        8.71791798069474,
+        0.8482752558521404
+      ],
+      "z_min": 0.7404450195789158,
+      "z_max": 0.8482854241657123
+    }
+  ],
+  "variant_index": 171
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0175/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0175/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..42c2561a1c964038eda455c459f98c6f61e77cc1
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0175/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 4451725375886771807
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999972071, -0.000507574152, 5.95675806e-05, -0.0074562705)
+            double3 xformOp:translate = (3.50085729679, 8.84909999654, 0.740335080014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.738541455, -0.000417237592, -0.000295114568, -0.674207875)
+            double3 xformOp:translate = (3.08696449489, 8.35636203507, 0.740887271391)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.995602589, -0.000510820395, 1.556729e-05, -0.0936761597)
+            double3 xformOp:translate = (1.80669949247, 8.7589528489, 0.747622169089)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.268180956, -7.49689289e-05, 0.000505528907, 0.96336842)
+            double3 xformOp:translate = (2.38314080248, 8.28216186702, 0.746304853253)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.319448005, -0.000101965973, 0.000500782145, 0.947603668)
+            double3 xformOp:translate = (3.52589434634, 8.25064714317, 0.817088444197)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.274916107, -7.85048186e-05, 0.000504991891, 0.961468082)
+            double3 xformOp:translate = (2.04243149307, 8.32231482088, 0.755385012223)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999474007, -0.000504795009, 7.97609873e-05, 0.0324260465)
+            double3 xformOp:translate = (3.6250514291, 8.62629747991, 0.747203744704)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.904260236, -0.000485614302, -0.000159243733, -0.426981457)
+            double3 xformOp:translate = (2.30212522754, 8.8549965092, 0.796640929783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.918274513, -0.000440588389, 0.000258962714, 0.395944009)
+            double3 xformOp:translate = (3.64694648258, 8.32766080416, 0.75391393133)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93167594, -0.000449453111, 0.000243252374, 0.36329008)
+            double3 xformOp:translate = (3.44933882969, 8.70047271217, 0.779838334546)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.638483587, -0.000275028402, 0.000430742608, 0.769635269)
+            double3 xformOp:translate = (2.05203194201, 8.82879877424, 0.745902703511)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.341359537, -0.000113563623, 0.000498280162, 0.93993266)
+            double3 xformOp:translate = (3.3069276509, 8.25677647056, 0.780306389208)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.394625209, -0.000141911598, 0.000490959178, 0.918842034)
+            double3 xformOp:translate = (1.95004319915, 8.51033608594, 0.781438704792)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0786758565, -0.000103051947, -0.000500559799, -0.99690012)
+            double3 xformOp:translate = (2.9090839562, 8.28205226565, 0.766011893117)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.629951883, -0.000368658837, -0.000353935698, -0.776633997)
+            double3 xformOp:translate = (1.8215965335, 8.42619071928, 0.746917028197)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.979131936, -0.000483659015, 0.000165087168, 0.203224976)
+            double3 xformOp:translate = (3.3279584342, 8.53642720863, 0.775640230548)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.482792159, -0.000300309884, -0.000413513954, -0.875734817)
+            double3 xformOp:translate = (3.16458649753, 8.29202342484, 0.740942690885)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998578158, -0.000509771805, 3.62287539e-05, -0.0533048013)
+            double3 xformOp:translate = (3.17348201078, 8.47093342925, 0.788339935497)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.428777896, -0.000160208611, 0.000485296834, 0.903409793)
+            double3 xformOp:translate = (2.54922772824, 8.30504108334, 0.746364184634)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.856331902, -0.000466975414, -0.000207638577, -0.516425612)
+            double3 xformOp:translate = (2.2256363669, 8.2536179589, 0.744654178281)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991160663, -0.000494228921, 0.000130067634, 0.132666043)
+            double3 xformOp:translate = (1.79255638156, 8.20009272928, 0.746860206929)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.762512408, -0.000345696093, 0.000376396105, 0.646973389)
+            double3 xformOp:translate = (3.24707685117, 8.86755054225, 0.799346982803)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.94836757, -0.000460839248, 0.000220923073, 0.317172966)
+            double3 xformOp:translate = (1.8822259125, 8.32450169028, 0.835945772767)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.564405899, -0.000233923537, 0.000454378251, 0.825497256)
+            double3 xformOp:translate = (3.43668306098, 8.3795128685, 0.752626866198)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.453621303, 0, 0, 0.891194543)
+            double3 xformOp:translate = (4.95329075567, 8.08463516075, 0.926858452162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.91492357, 0, 0, 0.403627132)
+            double3 xformOp:translate = (4.86619728371, 8.75079171162, 0.923709456699)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.604364372, -0.000256010939, 0.00044231009, 0.796707879)
+            double3 xformOp:translate = (3.37533578544, 8.85336854284, 0.81905626561)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.167879639, -2.26830109e-05, 0.000510553912, 0.985807367)
+            double3 xformOp:translate = (3.01211274989, 8.22166910725, 0.78989895813)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.181876737, -2.99386624e-05, 0.000510179863, 0.983321205)
+            double3 xformOp:translate = (1.92143713058, 8.67504324045, 0.765738444984)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.940902223, -0.000455691099, 0.000231355654, 0.338677938)
+            double3 xformOp:translate = (1.74475029749, 8.61795653021, 0.816941580144)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0175/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0175/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..24a15da1c4bee6bf29b37cff4d74c60a2ccc371d
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0175/placement.json
@@ -0,0 +1,1541 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 4451725375886771807,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "office_supply": 4,
+    "writing_instrument": 2,
+    "clock": 4,
+    "small object": 1,
+    "electronics": 7,
+    "book": 3,
+    "paper goods": 1,
+    "timepiece": 1
+  },
+  "failed_sampling_attempt_count": 314,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5008572967887757,
+        8.849099996542105,
+        0.7403350800139923
+      ],
+      "rotation_wxyz": [
+        0.999972071035201,
+        -0.0005075741518058308,
+        5.9567580603075906e-05,
+        -0.0074562704990472455
+      ],
+      "yaw_degrees_local": -0.9131441091550698,
+      "yaw_radians": -0.01491273780284654,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5008572967887757,
+        8.849099996542105,
+        0.7903351738913078
+      ],
+      "z_min": 0.7403350800139923,
+      "z_max": 0.8403352677686233
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.0869644948924755,
+        8.356362035071438,
+        0.7408872713912633
+      ],
+      "rotation_wxyz": [
+        0.7385414549001943,
+        -0.00041723759152363296,
+        -0.0002951145683626456,
+        -0.6742078746307317
+      ],
+      "yaw_degrees_local": -84.84405866543966,
+      "yaw_radians": -1.4797833753287468,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0869644948924755,
+        8.356362035071438,
+        0.7908873652685788
+      ],
+      "z_min": 0.7408872713912633,
+      "z_max": 0.8408874591458944
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        1.806699492472407,
+        8.758952848903576,
+        0.7476221690892731
+      ],
+      "rotation_wxyz": [
+        0.9956025893552658,
+        -0.0005108203947784994,
+        1.556729002269101e-05,
+        -0.09367615966335208
+      ],
+      "yaw_degrees_local": -10.808970928715894,
+      "yaw_radians": -0.18762740833503802,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.806699492472407,
+        8.758952848903576,
+        0.7546054498981137
+      ],
+      "z_min": 0.7406411654903913,
+      "z_max": 0.7546077271080726
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.383140802475508,
+        8.28216186702131,
+        0.7463048532527861
+      ],
+      "rotation_wxyz": [
+        0.2681809562300713,
+        -7.496892888080243e-05,
+        0.0005055289071287395,
+        0.9633684204579828
+      ],
+      "yaw_degrees_local": 148.82918185913076,
+      "yaw_radians": 2.598584130654754,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.383140802475508,
+        8.28216186702131,
+        0.7515407685709196
+      ],
+      "z_min": 0.7410517055837049,
+      "z_max": 0.7515235362199719
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        3.5258943463407277,
+        8.250647143168806,
+        0.8170884441969579
+      ],
+      "rotation_wxyz": [
+        0.3194480053148267,
+        -0.00010196597316955357,
+        0.0005007821448054019,
+        0.9476036675322456
+      ],
+      "yaw_degrees_local": 142.68219277900846,
+      "yaw_radians": 2.491298964897054,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5258943463407277,
+        8.250647143168806,
+        0.893274382719044
+      ],
+      "z_min": 0.7409389177097556,
+      "z_max": 0.8933107947539279
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        2.0424314930729746,
+        8.322314820878315,
+        0.7553850122234197
+      ],
+      "rotation_wxyz": [
+        0.2749161066077278,
+        -7.850481856484459e-05,
+        0.0005049918907293596,
+        0.9614680822304152
+      ],
+      "yaw_degrees_local": 148.0272558449704,
+      "yaw_radians": 2.584587886167295,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0424314930729746,
+        8.322314820878315,
+        0.7695204951294616
+      ],
+      "z_min": 0.741054154158956,
+      "z_max": 0.7693251199710398
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.6250514290992877,
+        8.626297479912157,
+        0.7472037447040957
+      ],
+      "rotation_wxyz": [
+        0.9994740068283339,
+        -0.0005047950090318872,
+        7.976098731090033e-05,
+        0.032426046547486057
+      ],
+      "yaw_degrees_local": 3.657692754955548,
+      "yaw_radians": 0.0648633752607064,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6250514290992877,
+        8.626297479912157,
+        0.7538165489875834
+      ],
+      "z_min": 0.7405453214379394,
+      "z_max": 0.7537709300049149
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.302125227539742,
+        8.85499650919565,
+        0.7966409297830324
+      ],
+      "rotation_wxyz": [
+        0.9042602356844903,
+        -0.0004856143015699252,
+        -0.00015924373253307765,
+        -0.4269814574194224
+      ],
+      "yaw_degrees_local": -50.61101309769603,
+      "yaw_radians": -0.8823038654148145,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.302125227539742,
+        8.85499650919565,
+        0.852823209592925
+      ],
+      "z_min": 0.7404810096130682,
+      "z_max": 0.8528455692328535
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_001_closed_book_dark_brown_e2332773/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.18973139049312915,
+        0.15145290261914646,
+        0.02645529918033409
+      ],
+      "bbox_min_m": [
+        -0.09490519643645584,
+        -0.07586150303586195,
+        -0.013068493745710726
+      ],
+      "bbox_max_m": [
+        0.09482619405667335,
+        0.07559139958328454,
+        0.01338680543462333
+      ],
+      "translation_world": [
+        3.646946482576855,
+        8.327660804159608,
+        0.7539139313300997
+      ],
+      "rotation_wxyz": [
+        0.9182745125690752,
+        -0.0004405883892921912,
+        0.00025896271442280087,
+        0.3959440091556019
+      ],
+      "yaw_degrees_local": 46.59102104869166,
+      "yaw_radians": 0.8141911602513617,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.646946482576855,
+        8.327660804159608,
+        0.7671415809202667
+      ],
+      "z_min": 0.7408454375843889,
+      "z_max": 0.767300736764723
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.4493388296871688,
+        8.70047271217257,
+        0.7798383345464301
+      ],
+      "rotation_wxyz": [
+        0.931675939760775,
+        -0.00044945311103400496,
+        0.00024325237351805425,
+        0.36329007981372224
+      ],
+      "yaw_degrees_local": 42.54607365417604,
+      "yaw_radians": 0.7435935015479797,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4493388296871688,
+        8.70047271217257,
+        0.819187193872306
+      ],
+      "z_min": 0.7404923705884938,
+      "z_max": 0.8191900892402455
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.0520319420067588,
+        8.828798774244326,
+        0.7459027035110932
+      ],
+      "rotation_wxyz": [
+        0.6384835874983208,
+        -0.00027502840230365303,
+        0.0004307426077910247,
+        0.769635269017382
+      ],
+      "yaw_degrees_local": 100.58360285813046,
+      "yaw_radians": 1.7565398852785488,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0520319420067588,
+        8.828798774244326,
+        0.751238144206094
+      ],
+      "z_min": 0.7405392407642831,
+      "z_max": 0.7512101221542847
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.3069276509039582,
+        8.256776470563327,
+        0.7803063892075629
+      ],
+      "rotation_wxyz": [
+        0.3413595372935792,
+        -0.00011356362316651257,
+        0.000498280161890484,
+        0.9399326598852162
+      ],
+      "yaw_degrees_local": 140.02183197348,
+      "yaw_radians": 2.4448669205804907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3069276509039582,
+        8.256776470563327,
+        0.8196552485334387
+      ],
+      "z_min": 0.7409604252496266,
+      "z_max": 0.8196581439013783
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        1.950043199145775,
+        8.510336085935903,
+        0.7814387047917176
+      ],
+      "rotation_wxyz": [
+        0.39462520876071955,
+        -0.0001419115977038286,
+        0.0004909591782189832,
+        0.9188420339921017
+      ],
+      "yaw_degrees_local": 133.4560804645248,
+      "yaw_radians": 2.3302729571765513,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.950043199145775,
+        8.510336085935903,
+        0.8219887139312492
+      ],
+      "z_min": 0.7408751763451527,
+      "z_max": 0.8219751946242156
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        2.9090839561988027,
+        8.28205226565199,
+        0.7660118931170312
+      ],
+      "rotation_wxyz": [
+        0.07867585652337225,
+        -0.00010305194676627928,
+        -0.0005005597991329234,
+        -0.9969001195809426
+      ],
+      "yaw_degrees_local": -171.03379326039442,
+      "yaw_radians": -2.9840782739759346,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9090839561988027,
+        8.28205226565199,
+        0.7909561346871565
+      ],
+      "z_min": 0.7409851894870012,
+      "z_max": 0.7908736726272518
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.82159653349886,
+        8.42619071927559,
+        0.7469170281965466
+      ],
+      "rotation_wxyz": [
+        0.6299518825087972,
+        -0.0003686588371893346,
+        -0.00035393569755327067,
+        -0.7766339965156086
+      ],
+      "yaw_degrees_local": -101.96555307271676,
+      "yaw_radians": -1.7786099780467777,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.82159653349886,
+        8.42619071927559,
+        0.7527342409631189
+      ],
+      "z_min": 0.7409767755342369,
+      "z_max": 0.7526112010673816
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.327958434195617,
+        8.536427208633924,
+        0.7756402305479092
+      ],
+      "rotation_wxyz": [
+        0.9791319359879618,
+        -0.0004836590153069678,
+        0.00016508716834632198,
+        0.2032249757009459
+      ],
+      "yaw_degrees_local": 23.392513711768885,
+      "yaw_radians": 0.40930084595951743,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.327958434195617,
+        8.536427208633924,
+        0.8107533048910945
+      ],
+      "z_min": 0.7406741275609783,
+      "z_max": 0.8109002762473491
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.164586497527582,
+        8.292023424840803,
+        0.7409426908853041
+      ],
+      "rotation_wxyz": [
+        0.4827921585899027,
+        -0.0003003098839552764,
+        -0.0004135139536207709,
+        -0.8757348174100915
+      ],
+      "yaw_degrees_local": -122.32285888864988,
+      "yaw_radians": -2.133912148851629,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.164586497527582,
+        8.292023424840803,
+        0.8909426968457685
+      ],
+      "z_min": 0.7409426908853041,
+      "z_max": 1.040942702806233
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.1734820107761483,
+        8.47093342924917,
+        0.7883399354965643
+      ],
+      "rotation_wxyz": [
+        0.9985781576720686,
+        -0.0005097718054494204,
+        3.6228753900058056e-05,
+        -0.053304801288827315
+      ],
+      "yaw_degrees_local": -6.1698878860900095,
+      "yaw_radians": -0.10666017717145392,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1734820107761483,
+        8.47093342924917,
+        0.8357388609246648
+      ],
+      "z_min": 0.7407601323842646,
+      "z_max": 0.8355579832404656
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        2.5492277282444245,
+        8.30504108334483,
+        0.7463641846341206
+      ],
+      "rotation_wxyz": [
+        0.42877789604417904,
+        -0.000160208611209623,
+        0.00048529683404551123,
+        0.9034097933297552
+      ],
+      "yaw_degrees_local": 129.16122781836418,
+      "yaw_radians": 2.255313642364283,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5492277282444245,
+        8.30504108334483,
+        0.7516793061342015
+      ],
+      "z_min": 0.741007457400841,
+      "z_max": 0.7516377004010028
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.22563636690494,
+        8.253617958897076,
+        0.744654178281161
+      ],
+      "rotation_wxyz": [
+        0.8563319015523345,
+        -0.0004669754144247095,
+        -0.00020763857677027017,
+        -0.5164256124592842
+      ],
+      "yaw_degrees_local": -62.24430463918749,
+      "yaw_radians": -1.0853431212210205,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.22563636690494,
+        8.253617958897076,
+        0.7482292388573808
+      ],
+      "z_min": 0.7411006108344574,
+      "z_max": 0.7482507319868971
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.7925563815630912,
+        8.200092729280465,
+        0.7468602069291158
+      ],
+      "rotation_wxyz": [
+        0.9911606629577416,
+        -0.000494228921419086,
+        0.0001300676342263495,
+        0.13266604322641878
+      ],
+      "yaw_degrees_local": 15.188651684743746,
+      "yaw_radians": 0.26611648712933017,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7925563815630912,
+        8.200092729280465,
+        0.7525090581423979
+      ],
+      "z_min": 0.7412097706593289,
+      "z_max": 0.7525074730858932
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.2470768511702026,
+        8.867550542252761,
+        0.7993469828027628
+      ],
+      "rotation_wxyz": [
+        0.7625124078409122,
+        -0.00034569609288763524,
+        0.0003763961046590892,
+        0.6469733894905093
+      ],
+      "yaw_degrees_local": 80.56889264902611,
+      "yaw_radians": 1.407217121025227,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2470768511702026,
+        8.867550542252761,
+        0.858473260835283
+      ],
+      "z_min": 0.7403485519620567,
+      "z_max": 0.858601108027097
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        1.8822259124978218,
+        8.32450169028413,
+        0.8359457727668523
+      ],
+      "rotation_wxyz": [
+        0.9483675704287416,
+        -0.00046083924753179844,
+        0.0002209230729793482,
+        0.31717296571314185
+      ],
+      "yaw_degrees_local": 36.92538198950501,
+      "yaw_radians": 0.6454939223424904,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8822259124978218,
+        8.32450169028413,
+        0.9308426188310559
+      ],
+      "z_min": 0.7410722764644376,
+      "z_max": 0.9308659685928449
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_001_closed_book_blue_white_e95d4781/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11580526791519302,
+        0.15874433349695133,
+        0.023374649905333292
+      ],
+      "bbox_min_m": [
+        -0.05772720439203676,
+        -0.07940933678986412,
+        -0.01180737869339906
+      ],
+      "bbox_max_m": [
+        0.05807806352315627,
+        0.07933499670708723,
+        0.011567271211934188
+      ],
+      "translation_world": [
+        3.436683060975599,
+        8.379512868502005,
+        0.752626866198012
+      ],
+      "rotation_wxyz": [
+        0.5644058992459974,
+        -0.00023392353734211162,
+        0.00045437825092940607,
+        0.8254972560320847
+      ],
+      "yaw_degrees_local": 111.21918723134098,
+      "yaw_radians": 1.9421659172392731,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.436683060975599,
+        8.379512868502005,
+        0.7643141911506787
+      ],
+      "z_min": 0.7408194875046129,
+      "z_max": 0.7641941374099462
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        4.953290755666826,
+        8.084635160754356,
+        0.9268584521624881
+      ],
+      "rotation_wxyz": [
+        0.45362130272950524,
+        0.0,
+        0.0,
+        0.891194543132972
+      ],
+      "yaw_degrees_local": 36.04747709014322,
+      "yaw_radians": 2.1999434890551206,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.953290755666826,
+        8.084635160754356,
+        0.9334712564459758
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9334256374633073
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        4.866197283707067,
+        8.750791711618463,
+        0.923709456699084
+      ],
+      "rotation_wxyz": [
+        0.9149235698589384,
+        0.0,
+        0.0,
+        0.40362713154169466
+      ],
+      "yaw_degrees_local": -42.38975057891551,
+      "yaw_radians": 0.8309556100936487,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.866197283707067,
+        8.750791711618463,
+        0.9272897361804091
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9273605878589819
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.3753357854440855,
+        8.853368542835323,
+        0.8190562656104635
+      ],
+      "rotation_wxyz": [
+        0.604364371810238,
+        -0.0002560109390353572,
+        0.0004423100895690118,
+        0.7967078792798526
+      ],
+      "yaw_degrees_local": 105.57504540349748,
+      "yaw_radians": 1.8436570266699872,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3753357854440855,
+        8.853368542835323,
+        0.8977669284350854
+      ],
+      "z_min": 0.7403466955478384,
+      "z_max": 0.8977680211970823
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.0121127498912474,
+        8.221669107246365,
+        0.7898989581304167
+      ],
+      "rotation_wxyz": [
+        0.16787963874034512,
+        -2.2683010858810852e-05,
+        0.0005105539121960498,
+        0.9858073674489328
+      ],
+      "yaw_degrees_local": 160.61216784463306,
+      "yaw_radians": 2.804235945740593,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0121127498912474,
+        8.221669107246365,
+        0.8387664226363658
+      ],
+      "z_min": 0.7410333906180985,
+      "z_max": 0.8387683196299969
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        1.9214371305753672,
+        8.675043240446383,
+        0.7657384449843583
+      ],
+      "rotation_wxyz": [
+        0.1818767368738134,
+        -2.993866243183478e-05,
+        0.0005101798631189841,
+        0.9833212045940622
+      ],
+      "yaw_degrees_local": 158.98309973193824,
+      "yaw_radians": 2.7758033567767253,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9214371305753672,
+        8.675043240446383,
+        0.7906826865544836
+      ],
+      "z_min": 0.7407117413543283,
+      "z_max": 0.7906002244945789
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.744750297489765,
+        8.617956530212178,
+        0.8169415801441784
+      ],
+      "rotation_wxyz": [
+        0.9409022229923091,
+        -0.0004556910990514122,
+        0.0002313556536712009,
+        0.33867793785293293
+      ],
+      "yaw_degrees_local": 39.533989687724215,
+      "yaw_radians": 0.6910227159087536,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.744750297489765,
+        8.617956530212178,
+        0.8931275186662645
+      ],
+      "z_min": 0.7407920536569761,
+      "z_max": 0.8931639307011484
+    }
+  ],
+  "variant_index": 175
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0177/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0177/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..c06053db3155d54edf77fafd705c8a06f341f7aa
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0177/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 819564208169204306
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.68010429, -0.000391334984, -0.000328689438, -0.733115198)
+            double3 xformOp:translate = (3.64300337893, 8.79669084428, 0.740370224995)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.672602059, -0.000294207568, 0.000417877641, 0.740004196)
+            double3 xformOp:translate = (1.96043141595, 8.46201392481, 0.740922848848)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.547958708, -0.000330871665, -0.000389491665, -0.836505226)
+            double3 xformOp:translate = (3.08225724614, 8.33435475985, 0.84116724614)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.604157087, -0.000255895863, 0.000442376676, 0.796865078)
+            double3 xformOp:translate = (1.95422253825, 8.80140751646, 0.752158145686)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.694168077, -0.000397624238, -0.000321052615, -0.719812767)
+            double3 xformOp:translate = (3.74636552913, 8.38981183742, 0.752348532743)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.363138946, -0.000243179464, -0.000449492564, -0.931734857)
+            double3 xformOp:translate = (1.83768119579, 8.37168972998, 0.744069436248)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.806894888, -0.000446610111, -0.000248433542, -0.590694826)
+            double3 xformOp:translate = (3.38004665232, 8.80971992242, 0.766989573863)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.967004225, -0.000474244099, 0.000190453016, 0.254759825)
+            double3 xformOp:translate = (3.56974841575, 8.47391163474, 0.740706879541)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0328584239, 4.6653296e-05, 0.000508923655, 0.999459886)
+            double3 xformOp:translate = (1.81326959352, 8.76091516325, 0.772470248472)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.900220376, -0.000484101115, -0.000163786222, -0.435434282)
+            double3 xformOp:translate = (3.20317748917, 8.60101018501, 0.835497962909)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.374835065, -0.0001313531, 0.000493888833, 0.927091372)
+            double3 xformOp:translate = (3.63153990464, 8.33478940714, 0.748852926541)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99678379, -0.000510561638, 2.25084367e-05, -0.0801362248)
+            double3 xformOp:translate = (3.18625587207, 8.24449529667, 0.78851197809)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.641603649, -0.000276775289, 0.000429622224, 0.767036176)
+            double3 xformOp:translate = (2.2697743567, 8.87725598855, 0.771054519602)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.903562159, -0.000431067822, 0.000274518395, 0.428456724)
+            double3 xformOp:translate = (3.44003794794, 8.2747218792, 0.779796508935)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.936095404, -0.000496992206, -0.000119073774, -0.351745837)
+            double3 xformOp:translate = (2.92288905056, 8.33815404987, 0.797086476564)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997479584, 0, 0, -0.0709540707)
+            double3 xformOp:translate = (4.87217636203, 8.77768795771, 0.956855579621)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.287792042, 0, 0, 0.957692926)
+            double3 xformOp:translate = (4.96311204845, 8.20416931022, 0.991482568767)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0149733061, -7.09366358e-05, -0.000506110472, -0.999887763)
+            double3 xformOp:translate = (2.05307709326, 8.24502894169, 0.825541346483)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0438218296, 4.10669294e-05, 0.000509404872, 0.999039231)
+            double3 xformOp:translate = (3.29681735448, 8.39804959475, 0.787914674811)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858097319, -0.000402625172, 0.000314758299, 0.513486836)
+            double3 xformOp:translate = (2.4428838376, 8.30602852062, 0.746273077415)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987200214, -0.000510728444, -1.83377359e-05, -0.159485035)
+            double3 xformOp:translate = (3.38797266394, 8.51203772611, 0.780048336097)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.710468902, -0.000315708539, 0.000401880498, 0.703728412)
+            double3 xformOp:translate = (1.7029382769, 8.61531809694, 0.781363537129)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.770213717, -0.000350183596, 0.000372224751, 0.637785677)
+            double3 xformOp:translate = (3.24947460783, 8.46712376394, 0.746041556984)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999930603, -0.000507826385, 5.73775132e-05, -0.0117697621)
+            double3 xformOp:translate = (3.5226193619, 8.59169037583, 0.805897743451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.442634387, -0.000167660399, 0.000482773039, 0.896702034)
+            double3 xformOp:translate = (2.6333527071, 8.27535189077, 0.775096568218)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.960194646, -0.000504625817, -8.08245106e-05, -0.279331308)
+            double3 xformOp:translate = (1.82533325175, 8.25349018089, 0.746514922976)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.696360958, -0.000398601903, -0.000319837989, -0.717691546)
+            double3 xformOp:translate = (3.26020759825, 8.18763685293, 0.741036447805)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.560212185, 0, 0, 0.828349146)
+            double3 xformOp:translate = (4.99867011653, 8.44374294231, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.619652361, -0.000264513264, 0.000437278572, 0.784876226)
+            double3 xformOp:translate = (2.0366100069, 8.82891655634, 0.816690638745)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.44374213, -0.000281800581, -0.000426342877, -0.896154373)
+            double3 xformOp:translate = (2.24270875831, 8.25251720323, 0.775706369837)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0177/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0177/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..492898521d6d503c548b49f30f85c312529fd769
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0177/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 819564208169204306,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "electronics": 7,
+    "book": 2,
+    "drinkware/container": 1,
+    "small object": 4,
+    "clock": 3,
+    "drinkware": 6,
+    "small electronic device": 1,
+    "writing_instrument": 1,
+    "office_supply": 4,
+    "office_supplies": 1
+  },
+  "failed_sampling_attempt_count": 209,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.643003378934999,
+        8.796690844280905,
+        0.7403702249947339
+      ],
+      "rotation_wxyz": [
+        0.6801042902477691,
+        -0.0003913349838377774,
+        -0.00032868943801862437,
+        -0.7331151977736938
+      ],
+      "yaw_degrees_local": -94.35511015905931,
+      "yaw_radians": -1.645782622529131,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.643003378934999,
+        8.796690844280905,
+        0.9178702196303159
+      ],
+      "z_min": 0.7403702249947339,
+      "z_max": 1.0953702142658979
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.96043141594673,
+        8.462013924805536,
+        0.7409228488483828
+      ],
+      "rotation_wxyz": [
+        0.6726020585735913,
+        -0.0002942075679936997,
+        0.00041787764139224437,
+        0.7400041956791538
+      ],
+      "yaw_degrees_local": 95.4048520030583,
+      "yaw_radians": 1.6661535910276926,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.96043141594673,
+        8.462013924805536,
+        0.8909228548088473
+      ],
+      "z_min": 0.7409228488483828,
+      "z_max": 1.0409228607693117
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        3.0822572461367295,
+        8.33435475985125,
+        0.8411672461401378
+      ],
+      "rotation_wxyz": [
+        0.547958708358573,
+        -0.0003308716651985269,
+        -0.00038949166539101524,
+        -0.8365052257781708
+      ],
+      "yaw_degrees_local": -113.60453215039259,
+      "yaw_radians": -1.9817485827666317,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0822572461367295,
+        8.33435475985125,
+        0.9413841262027878
+      ],
+      "z_min": 0.7409102406618593,
+      "z_max": 0.9413440007871593
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        1.9542225382453382,
+        8.801407516463087,
+        0.752158145686404
+      ],
+      "rotation_wxyz": [
+        0.6041570872075799,
+        -0.0002558958630711038,
+        0.0004423766760391053,
+        0.7968650781638237
+      ],
+      "yaw_degrees_local": 105.60485648373174,
+      "yaw_radians": 1.8441773283640173,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9542225382453382,
+        8.801407516463087,
+        0.7636709001098545
+      ],
+      "z_min": 0.7405794176669529,
+      "z_max": 0.7636049265138537
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.7463655291342484,
+        8.389811837420236,
+        0.7523485327432665
+      ],
+      "rotation_wxyz": [
+        0.6941680772287429,
+        -0.000397624238392425,
+        -0.00032105261450914333,
+        -0.7198127668892336
+      ],
+      "yaw_degrees_local": -92.13677451502636,
+      "yaw_radians": -1.6070653415974052,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7463655291342484,
+        8.389811837420236,
+        0.763861287166717
+      ],
+      "z_min": 0.7407698047238154,
+      "z_max": 0.7637953135707162
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        1.8376811957866854,
+        8.371689729980915,
+        0.7440694362481088
+      ],
+      "rotation_wxyz": [
+        0.36313894625530674,
+        -0.0002431794637448459,
+        -0.0004494925635125477,
+        -0.9317348574206985
+      ],
+      "yaw_degrees_local": -137.47251444252086,
+      "yaw_radians": -2.3983235755586265,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8376811957866854,
+        8.371689729980915,
+        0.7471814394919845
+      ],
+      "z_min": 0.7410300127312682,
+      "z_max": 0.7472540192190193
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.380046652324447,
+        8.809719922422358,
+        0.7669895738633622
+      ],
+      "rotation_wxyz": [
+        0.8068948883535932,
+        -0.00044661011128509513,
+        -0.0002484335418944623,
+        -0.5906948264281873
+      ],
+      "yaw_degrees_local": -72.47138278988754,
+      "yaw_radians": -1.2638393546813615,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.380046652324447,
+        8.809719922422358,
+        0.7935640585194362
+      ],
+      "z_min": 0.7403903412906965,
+      "z_max": 0.7935393106028444
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.5697484157504107,
+        8.473911634744487,
+        0.7407068795411454
+      ],
+      "rotation_wxyz": [
+        0.9670042246134214,
+        -0.00047424409863985314,
+        0.0001904530155854346,
+        0.2547598249331704
+      ],
+      "yaw_degrees_local": 29.460001764968354,
+      "yaw_radians": 0.5151984684272715,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5697484157504107,
+        8.473911634744487,
+        0.8907068855016099
+      ],
+      "z_min": 0.7407068795411454,
+      "z_max": 1.0407068914620745
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        1.813269593518276,
+        8.760915163246699,
+        0.7724702484719056
+      ],
+      "rotation_wxyz": [
+        0.032858423924062616,
+        4.665329604862728e-05,
+        0.0005089236545967496,
+        0.9994598855368886
+      ],
+      "yaw_degrees_local": 176.17531318442434,
+      "yaw_radians": 3.0758639354071042,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.813269593518276,
+        8.760915163246699,
+        0.8043214662153775
+      ],
+      "z_min": 0.7406383557899868,
+      "z_max": 0.8043407912769306
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.2031774891667824,
+        8.601010185010903,
+        0.8354979629094028
+      ],
+      "rotation_wxyz": [
+        0.9002203757903793,
+        -0.0004841011151813924,
+        -0.00016378622201041468,
+        -0.43543428187501765
+      ],
+      "yaw_degrees_local": -51.68457990866111,
+      "yaw_radians": -0.901041140653938,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2031774891667824,
+        8.601010185010903,
+        0.9303948089736064
+      ],
+      "z_min": 0.7406244666069881,
+      "z_max": 0.9304181587353954
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        3.6315399046385677,
+        8.334789407144179,
+        0.748852926541204
+      ],
+      "rotation_wxyz": [
+        0.3748350653678355,
+        -0.0001313531001464416,
+        0.0004938888329596363,
+        0.9270913722988012
+      ],
+      "yaw_degrees_local": 135.91304505245478,
+      "yaw_radians": 2.373155073526708,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6315399046385677,
+        8.334789407144179,
+        0.7566822657260219
+      ],
+      "z_min": 0.7408401569156412,
+      "z_max": 0.7564988352852772
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.1862558720731844,
+        8.244495296665928,
+        0.7885119780895828
+      ],
+      "rotation_wxyz": [
+        0.9967837901423015,
+        -0.0005105616383121758,
+        2.2508436736023087e-05,
+        -0.08013622482830354
+      ],
+      "yaw_degrees_local": -9.251503589038236,
+      "yaw_radians": -0.16044448939266417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1862558720731844,
+        8.244495296665928,
+        0.8360354552898266
+      ],
+      "z_min": 0.7409881747327253,
+      "z_max": 0.8360351291332129
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.269774356701514,
+        8.877255988548171,
+        0.7710545196021584
+      ],
+      "rotation_wxyz": [
+        0.6416036493068606,
+        -0.00027677528935701626,
+        0.0004296222241011893,
+        0.7670361764716856
+      ],
+      "yaw_degrees_local": 100.11826948236484,
+      "yaw_radians": 1.7484182822794667,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.269774356701514,
+        8.877255988548171,
+        0.8016569211075512
+      ],
+      "z_min": 0.7404625188687829,
+      "z_max": 0.8016673218795685
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        3.440037947937869,
+        8.274721879201161,
+        0.779796508935074
+      ],
+      "rotation_wxyz": [
+        0.9035621586023177,
+        -0.0004310678216788983,
+        0.00027451839529132134,
+        0.42845672402484725
+      ],
+      "yaw_degrees_local": 50.6806162315485,
+      "yaw_radians": 0.8855680749979563,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.440037947937869,
+        8.274721879201161,
+        0.8187439404700807
+      ],
+      "z_min": 0.740925358966953,
+      "z_max": 0.8188202220369665
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.9228890505629677,
+        8.338154049874841,
+        0.797086476564019
+      ],
+      "rotation_wxyz": [
+        0.9360954036854491,
+        -0.0004969922057919621,
+        -0.00011907377386457797,
+        -0.35174583724496333
+      ],
+      "yaw_degrees_local": -41.24698715266112,
+      "yaw_radians": -0.7188707998284315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9228890505629677,
+        8.338154049874841,
+        0.8532687563739116
+      ],
+      "z_min": 0.7409265563940548,
+      "z_max": 0.8532911160138401
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        4.872176362026831,
+        8.77768795770935,
+        0.9568555796206165
+      ],
+      "rotation_wxyz": [
+        0.9974795836749994,
+        0.0,
+        0.0,
+        -0.07095407071866933
+      ],
+      "yaw_degrees_local": -98.13757542499812,
+      "yaw_radians": -0.14202748429559378,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.872176362026831,
+        8.77768795770935,
+        0.9934657926897952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9934204550346891
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        4.963112048454736,
+        8.20416931021853,
+        0.9914825687665424
+      ],
+      "rotation_wxyz": [
+        0.2877920421661098,
+        0.0,
+        0.0,
+        0.9576929259767246
+      ],
+      "yaw_degrees_local": 56.548370225980335,
+      "yaw_radians": 2.5577515738749836,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.963112048454736,
+        8.20416931021853,
+        1.0629608154966104
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0631565223564678
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        2.053077093262468,
+        8.245028941689295,
+        0.8255413464833895
+      ],
+      "rotation_wxyz": [
+        0.014973306121465699,
+        -7.093663584952786e-05,
+        -0.0005061104720657972,
+        -0.9998877631634348
+      ],
+      "yaw_degrees_local": -178.34283158222817,
+      "yaw_radians": -3.111644997608805,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.053077093262468,
+        8.245028941689295,
+        0.9099514685780931
+      ],
+      "z_min": 0.7411312277816108,
+      "z_max": 0.9099514719710178
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.296817354475244,
+        8.398049594753635,
+        0.787914674811412
+      ],
+      "rotation_wxyz": [
+        0.04382182964435497,
+        4.106692941091161e-05,
+        0.0005094048719329957,
+        0.9990392314953428
+      ],
+      "yaw_degrees_local": 174.91806854453193,
+      "yaw_radians": 3.0539208883473274,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.296817354475244,
+        8.398049594753635,
+        0.8350204254980444
+      ],
+      "z_min": 0.7408184265355974,
+      "z_max": 0.8350299279088623
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.4428838375994975,
+        8.30602852061615,
+        0.7462730774152566
+      ],
+      "rotation_wxyz": [
+        0.8580973187946289,
+        -0.0004026251721708591,
+        0.0003147582992943931,
+        0.5134868355641193
+      ],
+      "yaw_degrees_local": 61.7340315414709,
+      "yaw_radians": 1.0784866257008314,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4428838375994975,
+        8.30602852061615,
+        0.7515089927333901
+      ],
+      "z_min": 0.7410199297461755,
+      "z_max": 0.7514917603824425
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        3.387972663940571,
+        8.512037726110853,
+        0.7800483360968706
+      ],
+      "rotation_wxyz": [
+        0.9872002139297428,
+        -0.000510728444169874,
+        -1.833773585076938e-05,
+        -0.1594850351514339
+      ],
+      "yaw_degrees_local": -18.41272702432414,
+      "yaw_radians": -0.3203379209152189,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.387972663940571,
+        8.512037726110853,
+        0.8192884109367619
+      ],
+      "z_min": 0.74069126258246,
+      "z_max": 0.8191714122622425
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        1.7029382769049188,
+        8.615318096936868,
+        0.7813635371286232
+      ],
+      "rotation_wxyz": [
+        0.7104689019354967,
+        -0.00031570853907719596,
+        0.0004018804979021192,
+        0.7037284122463393
+      ],
+      "yaw_degrees_local": 89.39511588534049,
+      "yaw_radians": 1.5612638569368522,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7029382769049188,
+        8.615318096936868,
+        0.8219135462681547
+      ],
+      "z_min": 0.7408000086820582,
+      "z_max": 0.8219000269611212
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.249474607831247,
+        8.467123763936852,
+        0.7460415569835326
+      ],
+      "rotation_wxyz": [
+        0.770213716619948,
+        -0.0003501835960464046,
+        0.00037222475105817604,
+        0.6377856768152375
+      ],
+      "yaw_degrees_local": 79.19510291250208,
+      "yaw_radians": 1.383239954435102,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.249474607831247,
+        8.467123763936852,
+        0.751342547614646
+      ],
+      "z_min": 0.7407543458302649,
+      "z_max": 0.7513563270924919
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.5226193619000994,
+        8.59169037582987,
+        0.8058977434509103
+      ],
+      "rotation_wxyz": [
+        0.9999306033527567,
+        -0.0005078263849173985,
+        5.73775132089118e-05,
+        -0.01176976205264932
+      ],
+      "yaw_degrees_local": -1.4074571193093561,
+      "yaw_radians": -0.02354012295804303,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5226193619000994,
+        8.59169037582987,
+        0.8712534678125518
+      ],
+      "z_min": 0.7405934299684077,
+      "z_max": 0.8713048786916907
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        2.6333527071032967,
+        8.275351890768341,
+        0.7750965682182975
+      ],
+      "rotation_wxyz": [
+        0.4426343866988579,
+        -0.00016766039889182298,
+        0.00048277303868769165,
+        0.8967020344194107
+      ],
+      "yaw_degrees_local": 127.39710907615444,
+      "yaw_radians": 2.224523962173978,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6333527071032967,
+        8.275351890768341,
+        0.8090951243889764
+      ],
+      "z_min": 0.7410269254046717,
+      "z_max": 0.8090240377460294
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.8253332517484315,
+        8.253490180891564,
+        0.7465149229764455
+      ],
+      "rotation_wxyz": [
+        0.9601946464282193,
+        -0.0005046258165417434,
+        -8.082451063811869e-05,
+        -0.2793313082895846
+      ],
+      "yaw_degrees_local": -32.49931309588706,
+      "yaw_radians": -0.5661951261007049,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8253332517484315,
+        8.253490180891564,
+        0.7518503636714463
+      ],
+      "z_min": 0.7411514602296354,
+      "z_max": 0.751822341619637
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.2602075982517555,
+        8.187636852926724,
+        0.7410364478048281
+      ],
+      "rotation_wxyz": [
+        0.6963609577049598,
+        -0.00039860190258450795,
+        -0.00031983798945141436,
+        -0.7176915461425022
+      ],
+      "yaw_degrees_local": -91.7871610977597,
+      "yaw_radians": -1.6009634332222964,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2602075982517555,
+        8.187636852926724,
+        0.7910365416821437
+      ],
+      "z_min": 0.7410364478048281,
+      "z_max": 0.8410366355594592
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.998670116530498,
+        8.44374294230705,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.5602121852040051,
+        0.0,
+        0.0,
+        0.8283491459215454
+      ],
+      "yaw_degrees_local": 21.859053934880166,
+      "yaw_radians": 1.9523087893295779,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.998670116530498,
+        8.44374294230705,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        2.036610006900892,
+        8.828916556341724,
+        0.8166906387453509
+      ],
+      "rotation_wxyz": [
+        0.6196523607867876,
+        -0.00026451326383366186,
+        0.0004372785719611426,
+        0.7848762262876514
+      ],
+      "yaw_degrees_local": 103.35977284842329,
+      "yaw_radians": 1.8049932120585919,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.036610006900892,
+        8.828916556341724,
+        0.892876577267437
+      ],
+      "z_min": 0.7405411122581486,
+      "z_max": 0.8929129893023209
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.242708758306199,
+        8.252517203226539,
+        0.7757063698365007
+      ],
+      "rotation_wxyz": [
+        0.4437421300292174,
+        -0.00028180058135007064,
+        -0.0004263428767917611,
+        -0.8961543733405071
+      ],
+      "yaw_degrees_local": -127.37292569191911,
+      "yaw_radians": -2.2220524681661638,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.242708758306199,
+        8.252517203226539,
+        0.810306096819336
+      ],
+      "z_min": 0.7410995803861173,
+      "z_max": 0.8102990343517879
+    }
+  ],
+  "variant_index": 177
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0179/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0179/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..82726578c8aa41b2c972dba1dfc232472498dce2
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0179/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 581075366397891841
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.307144509, -9.54695286e-05, 0.000502061137, 0.95166275)
+            double3 xformOp:translate = (3.22128027208, 8.29642433605, 0.740627347786)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.567741085, -0.000340061175, -0.000381494709, -0.823207021)
+            double3 xformOp:translate = (3.47396916199, 8.2531434404, 0.740942922091)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.914171974, -0.000437913559, 0.000263460683, 0.405326215)
+            double3 xformOp:translate = (3.49823363031, 8.48880966452, 0.746390634185)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.922597186, -0.00044342537, 0.000254074315, 0.385764399)
+            double3 xformOp:translate = (2.94668489855, 8.31214904277, 0.822139618117)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.132788387, -0.000130128639, -0.000494212863, -0.99114428)
+            double3 xformOp:translate = (1.99007484992, 8.39015031974, 0.813764236188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.703717629, -0.00031185717, 0.000404876428, 0.710479583)
+            double3 xformOp:translate = (1.90905688827, 8.78940901399, 0.775563424676)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.293499461, -0.000209398789, -0.000466188764, -0.955959102)
+            double3 xformOp:translate = (2.06972695858, 8.21050735027, 0.823075006457)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0929094852, -0.000110192399, -0.000499036523, -0.995674428)
+            double3 xformOp:translate = (1.87860692303, 8.56646884321, 0.759905211833)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.681446738, -0.000299208308, 0.000414311724, 0.73186753)
+            double3 xformOp:translate = (2.64158637435, 8.27669731256, 0.740720803435)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.958906394, -0.000504250686, -8.31327945e-05, -0.283722163)
+            double3 xformOp:translate = (3.65489440678, 8.85458767921, 0.818269840044)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.845590531, -0.000462630986, -0.000217146005, -0.533831802)
+            double3 xformOp:translate = (2.00354318374, 8.6515229367, 0.746012394316)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999903895, -0.000506189545, 7.03701678e-05, 0.0138542524)
+            double3 xformOp:translate = (1.86115051357, 8.22073696119, 0.787392164306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.179128746, -0.000153164926, -0.00048756571, -0.983825509)
+            double3 xformOp:translate = (2.32749570375, 8.3662754509, 0.805221948727)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.74281998, -0.000334283245, 0.000386567625, 0.669491013)
+            double3 xformOp:translate = (1.74062866297, 8.86274287723, 0.775510387157)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.889671955, -0.000422240987, 0.000287910343, 0.45659999)
+            double3 xformOp:translate = (3.43543638138, 8.62998040279, 0.822476526475)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.302314792, -9.29224096e-05, 0.000502538797, 0.953208007)
+            double3 xformOp:translate = (3.68101756151, 8.71902740529, 0.835317723175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991228377, -0.000511040081, -4.22516113e-06, -0.132159158)
+            double3 xformOp:translate = (3.64160905676, 8.34345717296, 0.796990035336)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.391559014, -0.00014027364, 0.000491429672, 0.920152855)
+            double3 xformOp:translate = (3.38550410127, 8.86295931591, 0.870286869822)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.56567, 0, 0, 0.824631706)
+            double3 xformOp:translate = (4.87108562398, 8.68920345315, 0.925453176565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.82803673, -0.000384391659, 0.000336783118, 0.560673624)
+            double3 xformOp:translate = (1.70937257238, 8.41252155712, 0.841224393952)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.337017264, -0.000111262401, 0.000498799052, 0.941498328)
+            double3 xformOp:translate = (3.69957518197, 8.43741747912, 0.744236873527)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.970368092, -0.000476781692, 0.000184008245, 0.241630927)
+            double3 xformOp:translate = (3.46668630326, 8.78455919574, 0.743444293979)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.821065204, -0.000452537922, -0.000237464198, -0.570834188)
+            double3 xformOp:translate = (3.29279608502, 8.52739048885, 0.818055287518)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993941832, -0.00051100638, 7.23156498e-06, -0.109906205)
+            double3 xformOp:translate = (3.05392223705, 8.86101714949, 0.817747178208)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.588126392, -0.00024701233, 0.000447397726, 0.80876887)
+            double3 xformOp:translate = (2.53414177515, 8.88019810579, 0.751446075968)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.145425936, 0, 0, 0.989369141)
+            double3 xformOp:translate = (4.9577755823, 8.175172718, 0.985504342379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978436065, -0.000483095531, 0.000166728893, 0.206549282)
+            double3 xformOp:translate = (2.4004424371, 8.2050205133, 0.809181120617)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.934693262, -0.000451479601, 0.00023947022, 0.355454984)
+            double3 xformOp:translate = (3.4339084396, 8.36309641249, 0.806140830577)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999381433, -0.000509029915, 4.5479247e-05, -0.0351637725)
+            double3 xformOp:translate = (3.70408584098, 8.54648679002, 0.746266690002)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.281958995, 0, 0, 0.959426456)
+            double3 xformOp:translate = (4.85364558796, 8.07899897434, 0.926140281559)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0179/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0179/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fdf3485f73810fb7c648c7b25edf7f6b42bc96c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0179/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 581075366397891841,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "book": 2,
+    "drinkware": 4,
+    "office_supplies": 2,
+    "clock": 4,
+    "small object": 6,
+    "small_prop": 1,
+    "small prop": 1,
+    "decorative_object": 1,
+    "electronics": 4,
+    "writing_instrument": 2,
+    "paper_goods": 2,
+    "office_supply": 1
+  },
+  "failed_sampling_attempt_count": 231,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        3.2212802720844773,
+        8.296424336049142,
+        0.74062734778633
+      ],
+      "rotation_wxyz": [
+        0.30714450853291725,
+        -9.546952855410927e-05,
+        0.0005020611370719395,
+        0.9516627499793489
+      ],
+      "yaw_degrees_local": 144.16682615478737,
+      "yaw_radians": 2.517210698476974,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2212802720844773,
+        8.296424336049142,
+        0.7494394151908358
+      ],
+      "z_min": 0.7409310440161511,
+      "z_max": 0.7585551788251627
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.4739691619881685,
+        8.253143440403974,
+        0.7409429220914151
+      ],
+      "rotation_wxyz": [
+        0.5677410848439041,
+        -0.00034006117546325564,
+        -0.0003814947092462246,
+        -0.8232070209858823
+      ],
+      "yaw_degrees_local": -110.87299115407315,
+      "yaw_radians": -1.9340741771948697,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4739691619881685,
+        8.253143440403974,
+        0.7634399338051981
+      ],
+      "z_min": 0.7409429250863496,
+      "z_max": 0.7859369485139157
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.4982336303061903,
+        8.488809664520447,
+        0.7463906341848577
+      ],
+      "rotation_wxyz": [
+        0.9141719741307328,
+        -0.00043791355875053733,
+        0.00026346068265066096,
+        0.4053262149603734
+      ],
+      "yaw_degrees_local": 47.764438339192196,
+      "yaw_radians": 0.8346711589025981,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4982336303061903,
+        8.488809664520447,
+        0.7522216852096439
+      ],
+      "z_min": 0.7407008334555331,
+      "z_max": 0.7523629355051055
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.946684898553147,
+        8.312149042767423,
+        0.8221396181168685
+      ],
+      "rotation_wxyz": [
+        0.9225971857909907,
+        -0.0004434253696897546,
+        0.00025407431541936117,
+        0.3857643990711535
+      ],
+      "yaw_degrees_local": 45.32370241782263,
+      "yaw_radians": 0.7920722742333972,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.946684898553147,
+        8.312149042767423,
+        0.9033834714102336
+      ],
+      "z_min": 0.7409499296229819,
+      "z_max": 0.9034376362097118
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.9900748499182903,
+        8.390150319740055,
+        0.8137642361878911
+      ],
+      "rotation_wxyz": [
+        0.1327883871796926,
+        -0.00013012863890471247,
+        -0.0004942128626180419,
+        -0.9911442796335961
+      ],
+      "yaw_degrees_local": -164.79720358502425,
+      "yaw_radians": -2.8752292944376907,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9900748499182903,
+        8.390150319740055,
+        0.8866266807946348
+      ],
+      "z_min": 0.7409920173860146,
+      "z_max": 0.886716906599502
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        1.9090568882730565,
+        8.789409013987903,
+        0.7755634246762573
+      ],
+      "rotation_wxyz": [
+        0.703717628611733,
+        -0.00031185717030587413,
+        0.0004048764275295928,
+        0.7104795830995166
+      ],
+      "yaw_degrees_local": 90.48920255593578,
+      "yaw_radians": 1.580359281308397,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9090568882730565,
+        8.789409013987903,
+        0.8106764990194426
+      ],
+      "z_min": 0.7405973216893263,
+      "z_max": 0.8108234703756971
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.069726958579855,
+        8.210507350272874,
+        0.8230750064568724
+      ],
+      "rotation_wxyz": [
+        0.293499461460067,
+        -0.00020939878889293117,
+        -0.0004661887637540037,
+        -0.9559591021287651
+      ],
+      "yaw_degrees_local": -145.92354521092827,
+      "yaw_radians": -2.545821888944518,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.069726958579855,
+        8.210507350272874,
+        0.9050110154976913
+      ],
+      "z_min": 0.7411641298283451,
+      "z_max": 0.9050361479099829
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6",
+      "asset_source": "sceneforge_base",
+      "category": "small_prop",
+      "asset_usd": "assets/small_062_bedroom_asset_000161_obj_002_closed_book_green_0c2ccaa6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16224576342244285,
+        0.24102301097507128,
+        0.03758840135605822
+      ],
+      "bbox_min_m": [
+        -0.08114587301735716,
+        -0.12032177935879133,
+        -0.01907792730343724
+      ],
+      "bbox_max_m": [
+        0.08109989040508565,
+        0.12070123161627995,
+        0.018510474052620973
+      ],
+      "translation_world": [
+        1.8786069230322162,
+        8.566468843205364,
+        0.7599052118329678
+      ],
+      "rotation_wxyz": [
+        0.0929094852191064,
+        -0.00011019239875880739,
+        -0.000499036523208565,
+        -0.9956744279012617
+      ],
+      "yaw_degrees_local": -169.39668918011873,
+      "yaw_radians": -2.9555054299596812,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8786069230322162,
+        8.566468843205364,
+        0.7786994125109968
+      ],
+      "z_min": 0.7408272845295305,
+      "z_max": 0.7784156858855887
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        2.6415863743493877,
+        8.276697312564849,
+        0.7407208034346532
+      ],
+      "rotation_wxyz": [
+        0.6814467384425513,
+        -0.00029920830847667983,
+        0.0004143117236801737,
+        0.7318675300122236
+      ],
+      "yaw_degrees_local": 94.0276756656591,
+      "yaw_radians": 1.6421173180720108,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6415863743493877,
+        8.276697312564849,
+        0.749532870839159
+      ],
+      "z_min": 0.7410244996644743,
+      "z_max": 0.7586486344734859
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.654894406783394,
+        8.854587679214802,
+        0.8182698400440589
+      ],
+      "rotation_wxyz": [
+        0.9589063943666545,
+        -0.0005042506863859322,
+        -8.313279448947288e-05,
+        -0.28372216279826706
+      ],
+      "yaw_degrees_local": -33.02367734241466,
+      "yaw_radians": -0.5753470056845388,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.654894406783394,
+        8.854587679214802,
+        0.8962633645145571
+      ],
+      "z_min": 0.7403100382782991,
+      "z_max": 0.8962970872192956
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.003543183737949,
+        8.651522936704083,
+        0.746012394316425
+      ],
+      "rotation_wxyz": [
+        0.8455905307819016,
+        -0.00046263098550020207,
+        -0.00021714600501833886,
+        -0.5338318022300337
+      ],
+      "yaw_degrees_local": -64.5881633773697,
+      "yaw_radians": -1.1262511815700433,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.003543183737949,
+        8.651522936704083,
+        0.7513133849475384
+      ],
+      "z_min": 0.7407251831631573,
+      "z_max": 0.7513271644253843
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        1.8611505135716482,
+        8.22073696118775,
+        0.7873921643056381
+      ],
+      "rotation_wxyz": [
+        0.9999038946371326,
+        -0.0005061895452548854,
+        7.037016779122326e-05,
+        0.013854252404163285
+      ],
+      "yaw_degrees_local": 1.5289209613784465,
+      "yaw_radians": 0.027709316724442948,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8611505135716482,
+        8.22073696118775,
+        0.8335847642117206
+      ],
+      "z_min": 0.7411801628494072,
+      "z_max": 0.8335653626615721
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        2.3274957037540767,
+        8.366275450900098,
+        0.8052219487267932
+      ],
+      "rotation_wxyz": [
+        0.17912874585224076,
+        -0.00015316492607692826,
+        -0.000487565710094713,
+        -0.9838255085275983
+      ],
+      "yaw_degrees_local": -159.42067602040484,
+      "yaw_radians": -2.7813912174800097,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3274957037540767,
+        8.366275450900098,
+        0.8694109028145137
+      ],
+      "z_min": 0.7409734759935267,
+      "z_max": 0.8693513841689677
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        1.7406286629734882,
+        8.862742877229978,
+        0.775510387157321
+      ],
+      "rotation_wxyz": [
+        0.7428199798578377,
+        -0.0003342832447558009,
+        0.00038656762476421366,
+        0.6694910128927688
+      ],
+      "yaw_degrees_local": 83.99688923094249,
+      "yaw_radians": 1.4670469793553378,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7406286629734882,
+        8.862742877229978,
+        0.8106234615005063
+      ],
+      "z_min": 0.7405442841703901,
+      "z_max": 0.8107704328567609
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        3.4354363813825533,
+        8.629980402792715,
+        0.8224765264754321
+      ],
+      "rotation_wxyz": [
+        0.8896719553471903,
+        -0.0004222409867852773,
+        0.0002879103425007651,
+        0.45659998980386646
+      ],
+      "yaw_degrees_local": 54.2771527220967,
+      "yaw_radians": 0.948339494470347,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4354363813825533,
+        8.629980402792715,
+        0.904412535516251
+      ],
+      "z_min": 0.7405656498469049,
+      "z_max": 0.9044376679285426
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        3.68101756151304,
+        8.719027405293943,
+        0.8353177231745611
+      ],
+      "rotation_wxyz": [
+        0.3023147924082279,
+        -9.292240955411864e-05,
+        0.0005025387965550215,
+        0.9532080072635531
+      ],
+      "yaw_degrees_local": 144.74790863750752,
+      "yaw_radians": 2.527352498119658,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.68101756151304,
+        8.719027405293943,
+        0.9302145692387647
+      ],
+      "z_min": 0.7404442268721464,
+      "z_max": 0.9302379190005536
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.6416090567554122,
+        8.343457172964238,
+        0.7969900353358909
+      ],
+      "rotation_wxyz": [
+        0.9912283772224592,
+        -0.0005110400808681714,
+        -4.225161128948584e-06,
+        -0.1321591578707822
+      ],
+      "yaw_degrees_local": -15.24747173330897,
+      "yaw_radians": -0.26509382164229656,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6416090567554122,
+        8.343457172964238,
+        0.8531723151457835
+      ],
+      "z_min": 0.7408301151659267,
+      "z_max": 0.853194674785712
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.385504101269487,
+        8.862959315910498,
+        0.8702868698223617
+      ],
+      "rotation_wxyz": [
+        0.39155901436478385,
+        -0.00014027364035914264,
+        0.0004914296715306337,
+        0.9201528552853939
+      ],
+      "yaw_degrees_local": 133.83820188592517,
+      "yaw_radians": 2.336942233418725,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.385504101269487,
+        8.862959315910498,
+        1.000454019337131
+      ],
+      "z_min": 0.7403357067067255,
+      "z_max": 1.0006700057362639
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        4.871085623984044,
+        8.689203453145547,
+        0.9254531765654129
+      ],
+      "rotation_wxyz": [
+        -0.565670000030562,
+        0.0,
+        0.0,
+        0.8246317063182959
+      ],
+      "yaw_degrees_local": 158.89766050166799,
+      "yaw_radians": -1.9391016309144389,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.871085623984044,
+        8.689203453145547,
+        0.9306890918835464
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9306718595325988
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        1.709372572379576,
+        8.412521557115483,
+        0.8412243939518358
+      ],
+      "rotation_wxyz": [
+        0.8280367301237249,
+        -0.0003843916593156584,
+        0.0003367831178798417,
+        0.5606736237653716
+      ],
+      "yaw_degrees_local": 68.14609196132955,
+      "yaw_radians": 1.1903982392016863,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.709372572379576,
+        8.412521557115483,
+        0.9413130950438489
+      ],
+      "z_min": 0.7410049073876405,
+      "z_max": 0.9411823095716665
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.6995751819669547,
+        8.437417479117375,
+        0.7442368735272655
+      ],
+      "rotation_wxyz": [
+        0.3370172642890931,
+        -0.00011126240128760253,
+        0.0004987990520239881,
+        0.9414983284059933
+      ],
+      "yaw_degrees_local": 140.55077717838157,
+      "yaw_radians": 2.454098753935913,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6995751819669547,
+        8.437417479117375,
+        0.7478171530085906
+      ],
+      "z_min": 0.7407274457245133,
+      "z_max": 0.7478880046871634
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        3.4666863032633315,
+        8.784559195737964,
+        0.7434442939786005
+      ],
+      "rotation_wxyz": [
+        0.9703680920901572,
+        -0.0004767816923611832,
+        0.00018400824456941788,
+        0.2416309265667214
+      ],
+      "yaw_degrees_local": 27.906931258099746,
+      "yaw_radians": 0.48809227900609875,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4666863032633315,
+        8.784559195737964,
+        0.7465562972224761
+      ],
+      "z_min": 0.7404048704617598,
+      "z_max": 0.746628876949511
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.2927960850234053,
+        8.527390488846498,
+        0.8180552875181833
+      ],
+      "rotation_wxyz": [
+        0.8210652036430164,
+        -0.00045253792203124897,
+        -0.0002374641980677336,
+        -0.5708341879975621
+      ],
+      "yaw_degrees_local": -69.67555427466662,
+      "yaw_radians": -1.215042926157416,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2927960850234053,
+        8.527390488846498,
+        0.8954370426515228
+      ],
+      "z_min": 0.7406877701508,
+      "z_max": 0.8954512804174789
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.05392223704636,
+        8.861017149492334,
+        0.8177471782079025
+      ],
+      "rotation_wxyz": [
+        0.993941831719487,
+        -0.0005110063803009739,
+        7.231564976472621e-06,
+        -0.1099062053675538
+      ],
+      "yaw_degrees_local": -12.678529574019848,
+      "yaw_radians": -0.2202573454290114,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.05392223704636,
+        8.861017149492334,
+        0.895128933341242
+      ],
+      "z_min": 0.7403796608405192,
+      "z_max": 0.8951431711071981
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        2.5341417751482465,
+        8.880198105786015,
+        0.7514460759680925
+      ],
+      "rotation_wxyz": [
+        0.5881263924132883,
+        -0.00024701233025564256,
+        0.00044739772567815986,
+        0.8087688701768353
+      ],
+      "yaw_degrees_local": 107.89295119796896,
+      "yaw_radians": 1.8841121287182534,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5341417751482465,
+        8.880198105786015,
+        0.7623254961712288
+      ],
+      "z_min": 0.740426029007088,
+      "z_max": 0.7621848694133605
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        4.957775582300981,
+        8.175172717995395,
+        0.9855043423788343
+      ],
+      "rotation_wxyz": [
+        -0.14542593605870124,
+        0.0,
+        0.0,
+        0.9893691409789628
+      ],
+      "yaw_degrees_local": 106.72388994909068,
+      "yaw_radians": -2.8497057102369743,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.957775582300981,
+        8.175172717995395,
+        1.0508600667404757
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0509114776196147
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.4004424370973383,
+        8.205020513298507,
+        0.8091811206169749
+      ],
+      "rotation_wxyz": [
+        0.9784360647723261,
+        -0.0004830955312866765,
+        0.00016672889339030717,
+        0.20654928218957422
+      ],
+      "yaw_degrees_local": 23.781707953685554,
+      "yaw_radians": 0.4160935652195001,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4004424370973383,
+        8.205020513298507,
+        0.8772364641705608
+      ],
+      "z_min": 0.7411277854946654,
+      "z_max": 0.8772384726018371
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_51a68da7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12936801329794753,
+        0.0481520747285817,
+        0.13071144872328294
+      ],
+      "bbox_min_m": [
+        -0.06470169669614148,
+        -0.024018090514177703,
+        -0.06530431348250253
+      ],
+      "bbox_max_m": [
+        0.06466631660180605,
+        0.024133984214403957,
+        0.06540713524078043
+      ],
+      "translation_world": [
+        3.4339084395980977,
+        8.363096412493105,
+        0.8061408305773292
+      ],
+      "rotation_wxyz": [
+        0.9346932617220715,
+        -0.00045147960075533645,
+        0.00023947022015715158,
+        0.35545498352328575
+      ],
+      "yaw_degrees_local": 41.5839589514369,
+      "yaw_radians": 0.7268014309085807,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4339084395980977,
+        8.363096412493105,
+        0.8714965549389707
+      ],
+      "z_min": 0.7408365170948267,
+      "z_max": 0.8715479658181097
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.7040858409765454,
+        8.546486790019955,
+        0.7462666900024452
+      ],
+      "rotation_wxyz": [
+        0.9993814326493514,
+        -0.0005090299149708167,
+        4.547924697173099e-05,
+        -0.03516377249263794
+      ],
+      "yaw_degrees_local": -4.089013320170011,
+      "yaw_radians": -0.07034208359355004,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7040858409765454,
+        8.546486790019955,
+        0.7519155412157272
+      ],
+      "z_min": 0.7406162537326583,
+      "z_max": 0.7519139561592225
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        4.853645587959991,
+        8.078998974338333,
+        0.9261402815586415
+      ],
+      "rotation_wxyz": [
+        -0.2819589948596612,
+        0.0,
+        0.0,
+        0.9594264563882577
+      ],
+      "yaw_degrees_local": 122.7543169950057,
+      "yaw_radians": -2.5699219777850084,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.853645587959991,
+        8.078998974338333,
+        0.9319574943252138
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9318344544294764
+    }
+  ],
+  "variant_index": 179
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0182/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0182/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..708f9fd81b187ca43b4903f425f187c04973a5be
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0182/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 9200167032220156329
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.291538824, -0.000208442513, -0.000466617118, -0.95655886)
+            double3 xformOp:translate = (3.7016681917, 8.61766342765, 0.740544367464)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.238606126, -0.000182521719, -0.00047735274, -0.971116294)
+            double3 xformOp:translate = (2.38822806915, 8.19657941927, 0.74113785875)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.701450069, -0.000310565424, 0.000405868124, 0.712718415)
+            double3 xformOp:translate = (3.65710450928, 8.77813727177, 0.777042825868)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0941223531, -0.000110800246, -0.000498901916, -0.995560506)
+            double3 xformOp:translate = (2.94894483216, 8.86205680439, 0.818351709219)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999838654, -0.000505896635, 7.24459139e-05, 0.0179556401)
+            double3 xformOp:translate = (1.8087005397, 8.5074637912, 0.774965637214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.497678483, -0.000307328519, -0.000408324623, -0.867361439)
+            double3 xformOp:translate = (3.60575977269, 8.40641458445, 0.772602683852)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.93081934, 0, 0, -0.365479624)
+            double3 xformOp:translate = (4.88942107598, 8.76868001635, 0.926858452162)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.559006431, -0.000336009018, -0.000385068508, -0.829163162)
+            double3 xformOp:translate = (1.89962739369, 8.70613286096, 0.750232493738)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.862338723, -0.000405229346, 0.000311398448, 0.506331576)
+            double3 xformOp:translate = (3.01457799885, 8.27537705469, 0.746335310446)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.495502222, -0.000196250388, 0.000471874561, 0.86860652)
+            double3 xformOp:translate = (3.5388842411, 8.68948324774, 0.7404921504)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.925977609, -0.000445658244, 0.000250137054, 0.37757808)
+            double3 xformOp:translate = (3.3801843851, 8.63247851436, 0.787160332086)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.858269548, -0.000467753612, -0.000205879514, -0.513198911)
+            double3 xformOp:translate = (2.04359966888, 8.40401602075, 0.822160865582)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0850552663, 1.99880852e-05, 0.000510666518, 0.996376104)
+            double3 xformOp:translate = (2.17268871651, 8.26968378545, 0.754469313187)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.308072644, 0, 0, 0.951362836)
+            double3 xformOp:translate = (4.90523048408, 8.14086035666, 1.0150735252)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.667089174, -0.000291096822, 0.00042005054, 0.7449777)
+            double3 xformOp:translate = (3.73835119601, 8.30535485763, 0.740856470092)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.964426829, -0.000472329552, 0.000195152787, 0.264349447)
+            double3 xformOp:translate = (1.9408659703, 8.60594822674, 0.746429784233)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.956726607, -0.000503605568, -8.695544e-05, -0.290987867)
+            double3 xformOp:translate = (1.78313602781, 8.2645059703, 0.746509096844)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.933980088, -0.000450999492, 0.000240373198, 0.357324689)
+            double3 xformOp:translate = (3.30098539195, 8.28396064072, 0.818301144309)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.19534936, -3.69347719e-05, 0.000509721138, 0.980733586)
+            double3 xformOp:translate = (1.93303776257, 8.83294832246, 0.750571803738)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978607007, -0.000483233623, 0.000166328235, 0.205737856)
+            double3 xformOp:translate = (3.38226506523, 8.40349438411, 0.781365602968)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.422677431, -0.000271759803, -0.000432812229, -0.90628005)
+            double3 xformOp:translate = (2.81929638389, 8.22877472645, 0.745370861204)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.370640037, -0.00024679597, -0.000447517112, -0.928776454)
+            double3 xformOp:translate = (2.37984427372, 8.31779984248, 0.787606233534)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.806349725, -0.000446380781, -0.000248845362, -0.591438805)
+            double3 xformOp:translate = (3.24371852596, 8.54497611516, 0.796836061516)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.279785789, -0.000202704308, -0.000469138338, -0.960062316)
+            double3 xformOp:translate = (1.94602532966, 8.26233922958, 0.775196851227)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.347335242, -0.000116732848, 0.000497547242, 0.937740886)
+            double3 xformOp:translate = (1.77924368035, 8.33990178283, 0.741069655601)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.898199346, -0.000427643077, 0.000279823543, 0.439588072)
+            double3 xformOp:translate = (3.17376965036, 8.87720426233, 0.79650796764)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0233181077, -7.51582946e-05, -0.000505500788, -0.999727965)
+            double3 xformOp:translate = (1.73540235289, 8.64240978396, 0.805016903292)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.865053723, -0.00040690091, 0.000309211037, 0.501678976)
+            double3 xformOp:translate = (3.16401196635, 8.20702178206, 0.788608803046)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999978289, -0.000507521138, 6.001759e-05, -0.00656965777)
+            double3 xformOp:translate = (3.54811576729, 8.20882279529, 0.746060697805)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.465470544, -0.000292116777, -0.000419341871, -0.885063224)
+            double3 xformOp:translate = (2.57171209519, 8.29726487874, 0.749006731679)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0182/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0182/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..32786e05c55da8660844103f11854e2292782f2e
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0182/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 9200167032220156329,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 5,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 5,
+    "sceneforge_base": 25
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "small electronic device": 1,
+    "small prop": 1,
+    "small object": 3,
+    "electronics": 7,
+    "office_supply": 4,
+    "clock": 2,
+    "book": 2,
+    "writing_instrument": 1,
+    "paper_goods": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 122,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.701668191702392,
+        8.61766342765177,
+        0.7405443674638051
+      ],
+      "rotation_wxyz": [
+        0.29153882412030874,
+        -0.00020844251340757793,
+        -0.00046661711803645215,
+        -0.956558860107799
+      ],
+      "yaw_degrees_local": -146.15849454492388,
+      "yaw_radians": -2.549922528110249,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.701668191702392,
+        8.61766342765177,
+        0.7905444613411207
+      ],
+      "z_min": 0.7405443674638051,
+      "z_max": 0.8405445552184362
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        2.3882280691542386,
+        8.196579419268854,
+        0.7411378587496124
+      ],
+      "rotation_wxyz": [
+        0.23860612563932873,
+        -0.00018252171872489345,
+        -0.00047735274005081767,
+        -0.9711162935650771
+      ],
+      "yaw_degrees_local": -152.4501320035222,
+      "yaw_radians": -2.6597323030136932,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3882280691542386,
+        8.196579419268854,
+        0.7911379526269279
+      ],
+      "z_min": 0.7411378587496124,
+      "z_max": 0.8411380465042434
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.6571045092758556,
+        8.778137271765955,
+        0.7770428258676453
+      ],
+      "rotation_wxyz": [
+        0.701450069394314,
+        -0.0003105654236319701,
+        0.00040586812376017847,
+        0.7127184149205744
+      ],
+      "yaw_degrees_local": 90.8543561415853,
+      "yaw_radians": 1.586732416858253,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6571045092758556,
+        8.778137271765955,
+        0.813653038936824
+      ],
+      "z_min": 0.7403872751433606,
+      "z_max": 0.8136077012817179
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.9489448321562435,
+        8.862056804388885,
+        0.8183517092190332
+      ],
+      "rotation_wxyz": [
+        0.09412235313226121,
+        -0.00011080024642726416,
+        -0.0004989019158431546,
+        -0.9955605061778163
+      ],
+      "yaw_degrees_local": -169.25709298732951,
+      "yaw_radians": -2.9530690178057206,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9489448321562435,
+        8.862056804388885,
+        0.8963452336895315
+      ],
+      "z_min": 0.7403919074532734,
+      "z_max": 0.8963789563942699
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.8087005396977287,
+        8.507463791196924,
+        0.7749656372136949
+      ],
+      "rotation_wxyz": [
+        0.9998386538883154,
+        -0.0005058966354905948,
+        7.244591389173706e-05,
+        0.017955640088437048
+      ],
+      "yaw_degrees_local": 1.9989652181000395,
+      "yaw_radians": 0.03591313255615387,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8087005396977287,
+        8.507463791196924,
+        0.8089641933843738
+      ],
+      "z_min": 0.7408959944000691,
+      "z_max": 0.8088931067414268
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        3.605759772691109,
+        8.406414584450847,
+        0.7726026838517824
+      ],
+      "rotation_wxyz": [
+        0.49767848319421665,
+        -0.0003073285186290607,
+        -0.0004083246231585596,
+        -0.8673614391853536
+      ],
+      "yaw_degrees_local": -120.3656454894357,
+      "yaw_radians": -2.09975231901023,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.605759772691109,
+        8.406414584450847,
+        0.8044539015952543
+      ],
+      "z_min": 0.7407707911698637,
+      "z_max": 0.8044732266568074
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        4.889421075981989,
+        8.768680016345941,
+        0.9268584521624881
+      ],
+      "rotation_wxyz": [
+        0.930819340342423,
+        0.0,
+        0.0,
+        -0.3654796241167171
+      ],
+      "yaw_degrees_local": -132.87420513398607,
+      "yaw_radians": -0.7482960437635137,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.889421075981989,
+        8.768680016345941,
+        0.9334712564459758
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9334256374633073
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        1.899627393688047,
+        8.706132860958537,
+        0.7502324937382657
+      ],
+      "rotation_wxyz": [
+        0.5590064313770503,
+        -0.0003360090180619132,
+        -0.000385068508218189,
+        -0.8291631615666962
+      ],
+      "yaw_degrees_local": -112.08447299523354,
+      "yaw_radians": -1.9552185338479269,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.899627393688047,
+        8.706132860958537,
+        0.7597363266604702
+      ],
+      "z_min": 0.7406829644942667,
+      "z_max": 0.7596906303386755
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        3.014577998848111,
+        8.27537705469252,
+        0.7463353104458188
+      ],
+      "rotation_wxyz": [
+        0.8623387234167226,
+        -0.0004052293457111725,
+        0.0003113984483179191,
+        0.5063315760607877
+      ],
+      "yaw_degrees_local": 60.78086897783351,
+      "yaw_radians": 1.0618507943166025,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.014577998848111,
+        8.27537705469252,
+        0.7516504319458998
+      ],
+      "z_min": 0.7409785832125392,
+      "z_max": 0.751608826212701
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.5388842410963646,
+        8.689483247741963,
+        0.7404921504002239
+      ],
+      "rotation_wxyz": [
+        0.495502221813454,
+        -0.0001962503877482163,
+        0.00047187456124375617,
+        0.8686065202369337
+      ],
+      "yaw_degrees_local": 120.53553531522624,
+      "yaw_radians": 2.1047668998064424,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5388842410963646,
+        8.689483247741963,
+        0.9179921450358058
+      ],
+      "z_min": 0.7404921504002239,
+      "z_max": 1.095492139671388
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        3.380184385096584,
+        8.63247851435837,
+        0.7871603320862195
+      ],
+      "rotation_wxyz": [
+        0.925977609041696,
+        -0.00044565824403308994,
+        0.000250137053963733,
+        0.37757807983728064
+      ],
+      "yaw_degrees_local": 44.30878329841198,
+      "yaw_radians": 0.7743585917212439,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.380184385096584,
+        8.63247851435837,
+        0.8337419353521375
+      ],
+      "z_min": 0.7405700982215194,
+      "z_max": 0.8337333047533554
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        2.043599668879064,
+        8.404016020750337,
+        0.822160865582191
+      ],
+      "rotation_wxyz": [
+        0.8582695478923955,
+        -0.0004677536124929071,
+        -0.0002058795138913727,
+        -0.5131989107361463
+      ],
+      "yaw_degrees_local": -61.81300633999352,
+      "yaw_radians": -1.07781554451645,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.043599668879064,
+        8.404016020750337,
+        0.9034047188755561
+      ],
+      "z_min": 0.7409711770883044,
+      "z_max": 0.9034588836750344
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        2.1726887165097706,
+        8.269683785445263,
+        0.7544693131873174
+      ],
+      "rotation_wxyz": [
+        0.08505526627951908,
+        1.998808518400945e-05,
+        0.0005106665180829749,
+        0.9963761039378172
+      ],
+      "yaw_degrees_local": 170.18288249703613,
+      "yaw_radians": 2.971276344243182,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1726887165097706,
+        8.269683785445263,
+        0.7678737505945546
+      ],
+      "z_min": 0.7410910300148822,
+      "z_max": 0.7678999048293568
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_062_bedroom_asset_000162_obj_002_brass_twin_bell_alarm_clock_c77118bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13704229634223652,
+        0.06368970251314565,
+        0.1897936921284072
+      ],
+      "bbox_min_m": [
+        -0.0685223002096839,
+        -0.032004699468577646,
+        -0.09487349630241468
+      ],
+      "bbox_max_m": [
+        0.06851999613255262,
+        0.03168500304456798,
+        0.09492019582599252
+      ],
+      "translation_world": [
+        4.905230484078579,
+        8.140860356663445,
+        1.0150735251987464
+      ],
+      "rotation_wxyz": [
+        -0.30807264426967473,
+        0.0,
+        0.0,
+        0.9513628360687055
+      ],
+      "yaw_degrees_local": 125.88623481798902,
+      "yaw_radians": -2.5152596998720567,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.905230484078579,
+        8.140860356663445,
+        1.10997037126295
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.1099937210247388
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        3.7383511960117843,
+        8.305354857633374,
+        0.7408564700921059
+      ],
+      "rotation_wxyz": [
+        0.6670891737563771,
+        -0.0002910968219532071,
+        0.0004200505403984804,
+        0.7449776997180642
+      ],
+      "yaw_degrees_local": 96.2556733709531,
+      "yaw_radians": 1.6810032322141895,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7383511960117843,
+        8.305354857633374,
+        0.7633534818058889
+      ],
+      "z_min": 0.7408564730870404,
+      "z_max": 0.7858504965146065
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.9408659702997553,
+        8.605948226735064,
+        0.7464297842331709
+      ],
+      "rotation_wxyz": [
+        0.9644268290079274,
+        -0.0004723295524096644,
+        0.00019515278671030723,
+        0.26434944734176746
+      ],
+      "yaw_degrees_local": 30.597894573060273,
+      "yaw_radians": 0.5350584416765417,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9408659702997553,
+        8.605948226735064,
+        0.7520786354464529
+      ],
+      "z_min": 0.740779347963384,
+      "z_max": 0.7520770503899482
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.7831360278128467,
+        8.264505970304198,
+        0.7465090968439151
+      ],
+      "rotation_wxyz": [
+        0.9567266066398094,
+        -0.0005036055675843526,
+        -8.695543995837511e-05,
+        -0.2909878673891053
+      ],
+      "yaw_degrees_local": -33.8929298804847,
+      "yaw_radians": -0.5905183196873445,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7831360278128467,
+        8.264505970304198,
+        0.7518445375389159
+      ],
+      "z_min": 0.741145634097105,
+      "z_max": 0.7518165154871066
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.3009853919460332,
+        8.283960640724663,
+        0.8183011443087198
+      ],
+      "rotation_wxyz": [
+        0.9339800884020912,
+        -0.0004509994923338937,
+        0.00024037319766330594,
+        0.35732468888757984
+      ],
+      "yaw_degrees_local": 41.81326856416666,
+      "yaw_radians": 0.7308036389393225,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3009853919460332,
+        8.283960640724663,
+        0.8956828994420593
+      ],
+      "z_min": 0.7409336269413365,
+      "z_max": 0.8956971372080154
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000182_obj_001_black_tv_remote_control_9bc1b904/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18572515065873393,
+        0.052499717338741106,
+        0.020074701961637506
+      ],
+      "bbox_min_m": [
+        -0.09284808956618433,
+        -0.026242860328369044,
+        -0.010021692449502174
+      ],
+      "bbox_max_m": [
+        0.09287706109254956,
+        0.026256857010372045,
+        0.010053009512135315
+      ],
+      "translation_world": [
+        1.9330377625739106,
+        8.832948322458668,
+        0.7505718037375944
+      ],
+      "rotation_wxyz": [
+        0.19534936049391222,
+        -3.69347719039579e-05,
+        0.0005097211383342025,
+        0.9807335857279506
+      ],
+      "yaw_degrees_local": 157.4110206450403,
+      "yaw_radians": 2.74836541311243,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9330377625739106,
+        8.832948322458668,
+        0.7606091547184131
+      ],
+      "z_min": 0.7405501112880922,
+      "z_max": 0.7606248132497296
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.3822650652330077,
+        8.403494384114872,
+        0.7813656029684721
+      ],
+      "rotation_wxyz": [
+        0.9786070066964553,
+        -0.00048323362297374894,
+        0.0001663282353299562,
+        0.20573785569211114
+      ],
+      "yaw_degrees_local": 23.68668437100939,
+      "yaw_radians": 0.41443509124377803,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3822650652330077,
+        8.403494384114872,
+        0.8219156121080037
+      ],
+      "z_min": 0.7408020745219072,
+      "z_max": 0.8219020928009702
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.8192963838872642,
+        8.228774726453702,
+        0.7453708612038559
+      ],
+      "rotation_wxyz": [
+        0.42267743097330357,
+        -0.0002717598034366285,
+        -0.0004328122288896164,
+        -0.9062800495244239
+      ],
+      "yaw_degrees_local": -130.05122209876865,
+      "yaw_radians": -2.268797569866593,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8192963838872642,
+        8.228774726453702,
+        0.7495074625639829
+      ],
+      "z_min": 0.7410505906513885,
+      "z_max": 0.7493237933716426
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        2.3798442737226404,
+        8.317799842477084,
+        0.7876062335336842
+      ],
+      "rotation_wxyz": [
+        0.3706400369823191,
+        -0.00024679597008691137,
+        -0.00044751711183950606,
+        -0.9287764541621031
+      ],
+      "yaw_degrees_local": -136.54851358518968,
+      "yaw_radians": -2.382196716795319,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3798442737226404,
+        8.317799842477084,
+        0.8341878367996022
+      ],
+      "z_min": 0.7410159996689841,
+      "z_max": 0.8341792062008201
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.243718525958067,
+        8.544976115163816,
+        0.7968360615164163
+      ],
+      "rotation_wxyz": [
+        0.8063497245155735,
+        -0.0004463807814796678,
+        -0.00024884536195379195,
+        -0.5914388054514539
+      ],
+      "yaw_degrees_local": -72.57707501961508,
+      "yaw_radians": -1.2656840327121017,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.243718525958067,
+        8.544976115163816,
+        0.8530183413263089
+      ],
+      "z_min": 0.7406761413464521,
+      "z_max": 0.8530407009662374
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.9460253296628172,
+        8.262339229580347,
+        0.7751968512268023
+      ],
+      "rotation_wxyz": [
+        0.2797857894113497,
+        -0.00020270430781648373,
+        -0.00046913833762862825,
+        -0.9600623161355997
+      ],
+      "yaw_degrees_local": -147.56386531536805,
+      "yaw_radians": -2.574450873181398,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9460253296628172,
+        8.262339229580347,
+        0.8091954073974811
+      ],
+      "z_min": 0.7411272084131765,
+      "z_max": 0.8091243207545341
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.7792436803538465,
+        8.339901782828022,
+        0.7410696556011301
+      ],
+      "rotation_wxyz": [
+        0.3473352420391243,
+        -0.00011673284848760847,
+        0.0004975472423039662,
+        0.9377408855637078
+      ],
+      "yaw_degrees_local": 139.29245810239206,
+      "yaw_radians": 2.43213694772186,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7792436803538465,
+        8.339901782828022,
+        0.8910696615615946
+      ],
+      "z_min": 0.7410696556011301,
+      "z_max": 1.0410696675220592
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.1737696503562023,
+        8.877204262327211,
+        0.7965079676402436
+      ],
+      "rotation_wxyz": [
+        0.898199346139603,
+        -0.0004276430769361609,
+        0.0002798235425922654,
+        0.4395880724207309
+      ],
+      "yaw_degrees_local": 52.09649989339644,
+      "yaw_radians": 0.9102799126093816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1737696503562023,
+        8.877204262327211,
+        0.8526902474501362
+      ],
+      "z_min": 0.7403480474702794,
+      "z_max": 0.8527126070900647
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        1.735402352887594,
+        8.642409783956856,
+        0.8050169032918745
+      ],
+      "rotation_wxyz": [
+        0.023318107652278843,
+        -7.515829457823945e-05,
+        -0.0005055007883242155,
+        -0.9997279653364213
+      ],
+      "yaw_degrees_local": -177.38640955331937,
+      "yaw_radians": -3.0949522924280846,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.735402352887594,
+        8.642409783956856,
+        0.869205857379595
+      ],
+      "z_min": 0.740768430558608,
+      "z_max": 0.869146338734049
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.164011966345168,
+        8.207021782062705,
+        0.7886088030463652
+      ],
+      "rotation_wxyz": [
+        0.8650537230455544,
+        -0.0004069009100808151,
+        0.0003092110373445894,
+        0.50167897610445
+      ],
+      "yaw_degrees_local": 60.16358320195636,
+      "yaw_radians": 1.0510771211014838,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.164011966345168,
+        8.207021782062705,
+        0.8360077284744656
+      ],
+      "z_min": 0.7410289999340655,
+      "z_max": 0.8358268507902664
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        3.5481157672916366,
+        8.208822795287645,
+        0.7460606978045927
+      ],
+      "rotation_wxyz": [
+        0.9999782889728278,
+        -0.0005075211376225466,
+        6.00175899768451e-05,
+        -0.006569657765789958
+      ],
+      "yaw_degrees_local": -0.8115432587216844,
+      "yaw_radians": -0.013139469343813184,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5481157672916366,
+        8.208822795287645,
+        0.7511903005006707
+      ],
+      "z_min": 0.7409784847075277,
+      "z_max": 0.7512376900996836
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        2.5717120951948926,
+        8.29726487873659,
+        0.7490067316787676
+      ],
+      "rotation_wxyz": [
+        0.46547054441506724,
+        -0.0002921167766707255,
+        -0.0004193418713029002,
+        -0.8850632243529978
+      ],
+      "yaw_degrees_local": -124.57734429888959,
+      "yaw_radians": -2.1732603546958993,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5717120951948926,
+        8.29726487873659,
+        0.7571021570462018
+      ],
+      "z_min": 0.7410124968610162,
+      "z_max": 0.7572033475958845
+    }
+  ],
+  "variant_index": 182
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0184/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0184/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..aa98da610133139ba70ccf066f5d9a6fbb73d0b5
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0184/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 8521782271286948953
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.267984668, -0.000196932675, -0.000471590222, -0.963423041)
+            double3 xformOp:translate = (1.77903439773, 8.40689931736, 0.741001731062)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.969579773, -0.000507196003, -6.27059044e-05, -0.244775004)
+            double3 xformOp:translate = (3.44256426978, 8.50782383442, 0.740688599071)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.277579406, -7.99039165e-05, 0.000504772405, 0.960702562)
+            double3 xformOp:translate = (3.67890659697, 8.57568207983, 0.818549672706)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.886286113, -0.000420109796, 0.000291011299, 0.463137846)
+            double3 xformOp:translate = (2.53243495191, 8.28904473252, 0.801700328776)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.935849452, -0.000496908902, -0.000119420934, -0.35239969)
+            double3 xformOp:translate = (2.88656994338, 8.2672896017, 0.746366467282)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.717896255, -0.00031995517, 0.000398507848, 0.696149916)
+            double3 xformOp:translate = (1.94440661943, 8.49317166561, 0.753905277383)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.910942614, -0.000488087711, -0.000151493244, -0.412532778)
+            double3 xformOp:translate = (2.24733813553, 8.2469874811, 0.746186799936)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.637330071, 0, 0, 0.770590929)
+            double3 xformOp:translate = (4.97344507776, 8.76905104836, 0.966790262761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.955407364, -0.000465795502, 0.000210272125, 0.295290549)
+            double3 xformOp:translate = (3.14068632779, 8.84329396215, 0.801061125242)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.526243043, -0.00021299712, 0.000464555748, 0.850334051)
+            double3 xformOp:translate = (3.49044494673, 8.35483591707, 0.747496124548)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.399254886, -0.000260550825, -0.000439651093, -0.91683983)
+            double3 xformOp:translate = (1.74132686297, 8.21896783728, 0.817346681068)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.880885048, -0.000476696575, -0.000184228639, -0.47332998)
+            double3 xformOp:translate = (1.77346096764, 8.74042664443, 0.775630284327)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.939659344, -0.000454843318, 0.000233017966, 0.342111175)
+            double3 xformOp:translate = (3.67685506053, 8.79735470428, 0.787889090822)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.908819524, -0.000487306043, -0.000153989079, -0.41718918)
+            double3 xformOp:translate = (3.69410495783, 8.25313568051, 0.746278507053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.287609523, -0.000206525211, -0.00046746888, -0.957747619)
+            double3 xformOp:translate = (2.11316784969, 8.86357754076, 0.840753276079)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.865026198, -0.000406883945, 0.000309233361, 0.501726435)
+            double3 xformOp:translate = (2.01323194034, 8.71992651298, 0.775620696969)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0850499993, -0.000106251208, -0.000499890485, -0.996376554)
+            double3 xformOp:translate = (3.34185854241, 8.85278701555, 0.747769473409)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.243488843, -0.000184920996, -0.000476428422, -0.969903563)
+            double3 xformOp:translate = (3.68107735948, 8.42351714724, 0.818278677529)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.56168391, -0.000337252057, -0.000383980295, -0.827351753)
+            double3 xformOp:translate = (3.56442500603, 8.64154749423, 0.788117360306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.688078213, -0.000302965984, 0.0004115719, 0.72563635)
+            double3 xformOp:translate = (1.89356915541, 8.31234783846, 0.797243066038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.988096143, -0.000491333678, 0.000140609507, 0.153836766)
+            double3 xformOp:translate = (2.76637639661, 8.84406060989, 0.747851238243)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.67474982, -0.000295420762, 0.00041702085, 0.738046353)
+            double3 xformOp:translate = (3.54042169696, 8.23154858438, 0.825366570468)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.194113573, -3.62925419e-05, 0.000509767268, 0.980978929)
+            double3 xformOp:translate = (2.0534845445, 8.3266071903, 0.744601962083)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.954061071, -0.000502800161, -9.14976202e-05, -0.299611767)
+            double3 xformOp:translate = (3.47594078429, 8.76238023327, 0.765452907641)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.557905596, -0.000335497716, -0.000385514071, -0.829904262)
+            double3 xformOp:translate = (3.16903608222, 8.34314542019, 0.787102303141)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.943396477, -0.000499422675, -0.000108428816, -0.331666739)
+            double3 xformOp:translate = (3.33667699319, 8.22801711147, 0.857825444722)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.465321861, -0.00029204633, -0.000419390936, -0.885141404)
+            double3 xformOp:translate = (3.31026486515, 8.47852001097, 0.788058162069)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.25541184, 0, 0, 0.966832349)
+            double3 xformOp:translate = (4.91903574067, 8.18272585338, 0.925453176565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.876192038, -0.00047486351, -0.000188903316, -0.481961877)
+            double3 xformOp:translate = (2.63964461805, 8.88100432481, 0.870363069226)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0686541285, 0, 0, 0.997640522)
+            double3 xformOp:translate = (4.81623636527, 8.64048834614, 0.98444850163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0184/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0184/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8dbdae65b0fc2607c3d639c986b53380ba98074
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0184/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 8521782271286948953,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 5,
+    "small prop": 1,
+    "small object": 5,
+    "office_supply": 2,
+    "book": 1,
+    "electronics": 7,
+    "clock": 5,
+    "drinkware/container": 1,
+    "paper goods": 1,
+    "decorative_object": 1,
+    "writing_instrument": 1
+  },
+  "failed_sampling_attempt_count": 146,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7790343977307825,
+        8.406899317358189,
+        0.7410017310621475
+      ],
+      "rotation_wxyz": [
+        0.26798466796786496,
+        -0.00019693267459876623,
+        -0.00047159022245556474,
+        -0.9634230413241823
+      ],
+      "yaw_degrees_local": -148.96995029738932,
+      "yaw_radians": -2.598991682977243,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7790343977307825,
+        8.406899317358189,
+        0.791001824939463
+      ],
+      "z_min": 0.7410017310621475,
+      "z_max": 0.8410019188167785
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.4425642697783196,
+        8.507823834419812,
+        0.740688599070823
+      ],
+      "rotation_wxyz": [
+        0.9695797730667324,
+        -0.0005071960033344107,
+        -6.270590436245285e-05,
+        -0.2447750037892919
+      ],
+      "yaw_degrees_local": -28.395789290022776,
+      "yaw_radians": -0.49457515046751793,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4425642697783196,
+        8.507823834419812,
+        0.7906886929481385
+      ],
+      "z_min": 0.740688599070823,
+      "z_max": 0.840688786825454
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.6789065969671375,
+        8.575682079826327,
+        0.8185496727060092
+      ],
+      "rotation_wxyz": [
+        0.277579406281366,
+        -7.99039164683132e-05,
+        0.0005047724045283552,
+        0.9607025616852847
+      ],
+      "yaw_degrees_local": 147.70970707018296,
+      "yaw_radians": 2.5790456163761832,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6789065969671375,
+        8.575682079826327,
+        0.8965431971765074
+      ],
+      "z_min": 0.7405898709402494,
+      "z_max": 0.8965769198812459
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        2.5324349519062945,
+        8.289044732521168,
+        0.8017003287760078
+      ],
+      "rotation_wxyz": [
+        0.8862861132836864,
+        -0.00042010979551725054,
+        0.0002910112986651319,
+        0.4631378458090858
+      ],
+      "yaw_degrees_local": 55.12084350653862,
+      "yaw_radians": 0.963064680801553,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5324349519062945,
+        8.289044732521168,
+        0.8623271952312674
+      ],
+      "z_min": 0.7410258379739255,
+      "z_max": 0.8622795708844447
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.8865699433836665,
+        8.26728960170218,
+        0.7463664672819731
+      ],
+      "rotation_wxyz": [
+        0.9358494522904967,
+        -0.0004969089018386439,
+        -0.00011942093415237354,
+        -0.35239968993709614
+      ],
+      "yaw_degrees_local": -41.32703865212562,
+      "yaw_radians": -0.7202679617943935,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8865699433836665,
+        8.26728960170218,
+        0.7517019079769739
+      ],
+      "z_min": 0.741003004535163,
+      "z_max": 0.7516738859251646
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000159_obj_003_closed_book_light_cover_09703738/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13836210248877062,
+        0.19833305661532946,
+        0.025951638219524467
+      ],
+      "bbox_min_m": [
+        -0.06920201292244091,
+        -0.0991652241850003,
+        -0.013011992561129008
+      ],
+      "bbox_max_m": [
+        0.06916008956632969,
+        0.09916783243032914,
+        0.012939645658395392
+      ],
+      "translation_world": [
+        1.9444066194288556,
+        8.493171665611394,
+        0.7539052773828286
+      ],
+      "rotation_wxyz": [
+        0.717896255437448,
+        -0.0003199551704215635,
+        0.0003985078483051756,
+        0.6961499157861578
+      ],
+      "yaw_degrees_local": 88.17914730595544,
+      "yaw_radians": 1.5400411907803018,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9444066194288556,
+        8.493171665611394,
+        0.7668810964925908
+      ],
+      "z_min": 0.7408932848216996,
+      "z_max": 0.766844923041224
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        2.2473381355293363,
+        8.24698748109804,
+        0.7461867999355611
+      ],
+      "rotation_wxyz": [
+        0.9109426140374215,
+        -0.0004880877105485798,
+        -0.00015149324424461438,
+        -0.41253277778966047
+      ],
+      "yaw_degrees_local": -48.7867963071034,
+      "yaw_radians": -0.8504652775867908,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.2473381355293363,
+        8.24698748109804,
+        0.7513164026316391
+      ],
+      "z_min": 0.7411045868384961,
+      "z_max": 0.751363792230652
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        4.973445077764316,
+        8.76905104836385,
+        0.9667902627610319
+      ],
+      "rotation_wxyz": [
+        -0.6373300714579535,
+        0.0,
+        0.0,
+        0.7705909291027244
+      ],
+      "yaw_degrees_local": 169.18603307480493,
+      "yaw_radians": -1.7595356548413181,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.973445077764316,
+        8.76905104836385,
+        1.01337186602695
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0133632354281679
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.140686327787954,
+        8.843293962153219,
+        0.8010611252422098
+      ],
+      "rotation_wxyz": [
+        0.955407363603463,
+        -0.00046579550196791176,
+        0.00021027212508265044,
+        0.29529054910793273
+      ],
+      "yaw_degrees_local": 34.29121576717421,
+      "yaw_radians": 0.5995190505700773,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.140686327787954,
+        8.843293962153219,
+        0.8616879916974695
+      ],
+      "z_min": 0.7403866344401275,
+      "z_max": 0.8616403673506468
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.490444946734078,
+        8.354835917069998,
+        0.747496124548182
+      ],
+      "rotation_wxyz": [
+        0.5262430429726428,
+        -0.0002129971195167399,
+        0.0004645557483423106,
+        0.8503340511487689
+      ],
+      "yaw_degrees_local": 116.43735622376175,
+      "yaw_radians": 2.033240169374808,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.490444946734078,
+        8.354835917069998,
+        0.7541089288316698
+      ],
+      "z_min": 0.7408377012820258,
+      "z_max": 0.7540633098490013
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.7413268629687075,
+        8.218967837283246,
+        0.8173466810679458
+      ],
+      "rotation_wxyz": [
+        0.39925488622808153,
+        -0.00026055082512122906,
+        -0.00043965109321933833,
+        -0.9168398304192427
+      ],
+      "yaw_degrees_local": -132.99549174243333,
+      "yaw_radians": -2.320184778966643,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7413268629687075,
+        8.218967837283246,
+        0.8935326195900319
+      ],
+      "z_min": 0.7411971545807435,
+      "z_max": 0.8935690316249159
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        1.7734609676371684,
+        8.740426644430732,
+        0.7756302843266548
+      ],
+      "rotation_wxyz": [
+        0.8808850484619847,
+        -0.0004766965752694225,
+        -0.00018422863883423883,
+        -0.4733299802635692
+      ],
+      "yaw_degrees_local": -56.56006005166256,
+      "yaw_radians": -0.9861343247735511,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7734609676371684,
+        8.740426644430732,
+        0.8107433586698402
+      ],
+      "z_min": 0.7406641813397239,
+      "z_max": 0.8108903300260947
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000086_obj_002_clear_glass_tumbler_19301db1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07937920320496553,
+        0.07917689836638496,
+        0.09504695440048755
+      ],
+      "bbox_min_m": [
+        -0.03971930283517163,
+        -0.03957269639095143,
+        -0.04752380335685756
+      ],
+      "bbox_max_m": [
+        0.0396599003697939,
+        0.0396042019754335,
+        0.04752315104363
+      ],
+      "translation_world": [
+        3.676855060532473,
+        8.797354704280984,
+        0.7878890908219611
+      ],
+      "rotation_wxyz": [
+        0.9396593439107244,
+        -0.0004548433177827164,
+        0.0002330179660642575,
+        0.34211117523613693
+      ],
+      "yaw_degrees_local": 39.952396182982085,
+      "yaw_radians": 0.6983252871185371,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.676855060532473,
+        8.797354704280984,
+        0.8354125680222049
+      ],
+      "z_min": 0.7403652874651035,
+      "z_max": 0.8354122418655912
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.6941049578314114,
+        8.253135680509272,
+        0.746278507053177
+      ],
+      "rotation_wxyz": [
+        0.908819523663025,
+        -0.0004873060431790176,
+        -0.0001539890792281127,
+        -0.41718918038354763
+      ],
+      "yaw_degrees_local": -49.37322818970952,
+      "yaw_radians": -0.8607004441996481,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6941049578314114,
+        8.253135680509272,
+        0.7516139477481778
+      ],
+      "z_min": 0.7409150443063669,
+      "z_max": 0.7515859256963685
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.113167849688777,
+        8.863577540758252,
+        0.8407532760790548
+      ],
+      "rotation_wxyz": [
+        0.2876095230475193,
+        -0.0002065252106380443,
+        -0.000467468879831828,
+        -0.9577476186723527
+      ],
+      "yaw_degrees_local": -146.62891462494918,
+      "yaw_radians": -2.5581329067455547,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.113167849688777,
+        8.863577540758252,
+        0.9409701561417048
+      ],
+      "z_min": 0.7404962706007763,
+      "z_max": 0.9409300307260763
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        2.0132319403396375,
+        8.719926512982994,
+        0.7756206969687248
+      ],
+      "rotation_wxyz": [
+        0.8650261979863162,
+        -0.000406883945134737,
+        0.0003092333608003912,
+        0.5017264350395767
+      ],
+      "yaw_degrees_local": 60.169870071480034,
+      "yaw_radians": 1.0511868477146258,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0132319403396375,
+        8.719926512982994,
+        0.8107337713119102
+      ],
+      "z_min": 0.7406545939817939,
+      "z_max": 0.8108807426681647
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        3.3418585424114826,
+        8.85278701554555,
+        0.7477694734087739
+      ],
+      "rotation_wxyz": [
+        0.0850499992839469,
+        -0.00010625120807410773,
+        -0.0004998904850295765,
+        -0.996376553538864
+      ],
+      "yaw_degrees_local": -170.30090908383073,
+      "yaw_radians": -2.971287037661134,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3418585424114826,
+        8.85278701554555,
+        0.7553093760518733
+      ],
+      "z_min": 0.7403514897158621,
+      "z_max": 0.755431295002061
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        3.6810773594787776,
+        8.423517147235861,
+        0.818278677528925
+      ],
+      "rotation_wxyz": [
+        0.24348884308571578,
+        -0.00018492099553051483,
+        -0.00047642842238086085,
+        -0.9699035633056329
+      ],
+      "yaw_degrees_local": -151.87361340451037,
+      "yaw_radians": -2.64967015705658,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6810773594787776,
+        8.423517147235861,
+        0.8959855113623575
+      ],
+      "z_min": 0.7407439262510792,
+      "z_max": 0.8961575939179441
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.5644250060260636,
+        8.641547494233595,
+        0.7881173603064271
+      ],
+      "rotation_wxyz": [
+        0.5616839101525578,
+        -0.0003372520565809144,
+        -0.00038398029451035156,
+        -0.8273517534252994
+      ],
+      "yaw_degrees_local": -111.7140372120367,
+      "yaw_radians": -1.9487532068228228,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5644250060260636,
+        8.641547494233595,
+        0.8355162857345275
+      ],
+      "z_min": 0.7405375571941274,
+      "z_max": 0.8353354080503284
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.8935691554118295,
+        8.312347838459564,
+        0.797243066037995
+      ],
+      "rotation_wxyz": [
+        0.6880782128834092,
+        -0.00030296598364953713,
+        0.00041157190014817703,
+        0.7256363495411168
+      ],
+      "yaw_degrees_local": 92.98492612407301,
+      "yaw_radians": 1.6239178964452141,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8935691554118295,
+        8.312347838459564,
+        0.8534253458478877
+      ],
+      "z_min": 0.7410831458680308,
+      "z_max": 0.8534477054878161
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.76637639660962,
+        8.844060609892765,
+        0.7478512382428324
+      ],
+      "rotation_wxyz": [
+        0.9880961431967092,
+        -0.0004913336777430228,
+        0.00014060950663389768,
+        0.15383676615156866
+      ],
+      "yaw_degrees_local": 17.639969396347965,
+      "yaw_radians": 0.3089000370258708,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.76637639660962,
+        8.844060609892765,
+        0.7553911408859318
+      ],
+      "z_min": 0.7404332545499206,
+      "z_max": 0.7555130598361195
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.540421696960368,
+        8.231548584384823,
+        0.8253665704677965
+      ],
+      "rotation_wxyz": [
+        0.6747498197373566,
+        -0.0002954207623306568,
+        0.00041702085010738514,
+        0.7380463532763972
+      ],
+      "yaw_degrees_local": 95.07182533205469,
+      "yaw_radians": 1.6603411763663598,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.540421696960368,
+        8.231548584384823,
+        0.9097766925625
+      ],
+      "z_min": 0.7409564517660178,
+      "z_max": 0.9097766959554248
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        2.0534845445037533,
+        8.32660719029917,
+        0.744601962082851
+      ],
+      "rotation_wxyz": [
+        0.19411357338549537,
+        -3.629254190322493e-05,
+        0.0005097672681160641,
+        0.9809789291558193
+      ],
+      "yaw_degrees_local": 157.55539526830563,
+      "yaw_radians": 2.750885224512663,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0534845445037533,
+        8.32660719029917,
+        0.7481770226590708
+      ],
+      "z_min": 0.7410483946361475,
+      "z_max": 0.7481985157885871
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.475940784293638,
+        8.762380233273255,
+        0.7654529076413406
+      ],
+      "rotation_wxyz": [
+        0.954061071363484,
+        -0.0005028001608430791,
+        -9.149762016843086e-05,
+        -0.2996117670068138
+      ],
+      "yaw_degrees_local": -34.927288018348804,
+      "yaw_radians": -0.6085712693568919,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.475940784293638,
+        8.762380233273255,
+        0.7903971492114659
+      ],
+      "z_min": 0.7404262040113105,
+      "z_max": 0.7903146871515612
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        3.169036082216861,
+        8.343145420191792,
+        0.7871023031408094
+      ],
+      "rotation_wxyz": [
+        0.5579055964612637,
+        -0.0003354977162328405,
+        -0.00038551407061592586,
+        -0.8299042621033981
+      ],
+      "yaw_degrees_local": -112.23654200571254,
+      "yaw_radians": -1.957872639972146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.169036082216861,
+        8.343145420191792,
+        0.8332949030468919
+      ],
+      "z_min": 0.7408903016845786,
+      "z_max": 0.8332755014967435
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.336676993187565,
+        8.228017111474784,
+        0.8578254447218383
+      ],
+      "rotation_wxyz": [
+        0.9433964771982694,
+        -0.0004994226748656233,
+        -0.00010842881568281819,
+        -0.33166673880580666
+      ],
+      "yaw_degrees_local": -38.79865769925425,
+      "yaw_radians": -0.6761393988802836,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.336676993187565,
+        8.228017111474784,
+        0.9746842633978108
+      ],
+      "z_min": 0.7409858651215737,
+      "z_max": 0.9747035024735186
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.310264865147412,
+        8.478520010970163,
+        0.7880581620686992
+      ],
+      "rotation_wxyz": [
+        0.46532186096255845,
+        -0.00029204632962318277,
+        -0.00041939093647090165,
+        -0.8851414036923848
+      ],
+      "yaw_degrees_local": -124.59659390236975,
+      "yaw_radians": -2.173596323757455,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.310264865147412,
+        8.478520010970163,
+        0.8354242887299541
+      ],
+      "z_min": 0.7407351071539494,
+      "z_max": 0.8354673604764594
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        4.919035740667307,
+        8.182725853376168,
+        0.9254531765654129
+      ],
+      "rotation_wxyz": [
+        -0.2554118403839999,
+        0.0,
+        0.0,
+        0.9668323493717296
+      ],
+      "yaw_degrees_local": 119.59597998230885,
+      "yaw_radians": -2.625045357544171,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.919035740667307,
+        8.182725853376168,
+        0.9306890918835464
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9306718595325988
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.6396446180463826,
+        8.88100432480997,
+        0.8703630692258923
+      ],
+      "rotation_wxyz": [
+        0.8761920383911903,
+        -0.0004748635103175896,
+        -0.00018890331603539697,
+        -0.48196187679117825
+      ],
+      "yaw_degrees_local": -57.685946366632066,
+      "yaw_radians": -1.005784749735325,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6396446180463826,
+        8.88100432480997,
+        1.0005302187406615
+      ],
+      "z_min": 0.7404119061102561,
+      "z_max": 1.0007462051397944
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        4.816236365274235,
+        8.64048834614122,
+        0.9844485016295983
+      ],
+      "rotation_wxyz": [
+        0.06865412845813423,
+        0.0,
+        0.0,
+        0.9976405217540304
+      ],
+      "yaw_degrees_local": 82.12662305793157,
+      "yaw_radians": 3.0041763027000963,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.816236365274235,
+        8.64048834614122,
+        1.0486374557173188
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0485779370717727
+    }
+  ],
+  "variant_index": 184
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0188/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0188/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..ef4a214720256ab8a892647c8d1000b7607dd8da
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0188/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 557919390209904644
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998564681, -0.000509780927, 3.61001737e-05, -0.0535566695)
+            double3 xformOp:translate = (2.98748233452, 8.21741999597, 0.741040795379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.459824611, -0.000289440289, -0.000421193703, -0.888009609)
+            double3 xformOp:translate = (1.91132045569, 8.56153862913, 0.740828130105)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.843796828, -0.000393904973, 0.000325605111, 0.536662512)
+            double3 xformOp:translate = (3.50201576819, 8.751501986, 0.870385151274)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.273213479, -0.000199491179, -0.00047051364, -0.961953291)
+            double3 xformOp:translate = (2.20622335622, 8.24609249132, 0.745430974009)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.731948422, -0.000414347241, -0.000299159122, -0.68135985)
+            double3 xformOp:translate = (2.71595982318, 8.83664674842, 0.787870232234)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.589754904, -0.000247913355, 0.000446899076, 0.807582127)
+            double3 xformOp:translate = (2.06133014512, 8.32288235453, 0.746991432347)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.373880114, -0.000248356738, -0.000446652826, -0.927476899)
+            double3 xformOp:translate = (1.78647091073, 8.71522568469, 0.818222866104)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.594564658, -0.00025057637, 0.000445411382, 0.80404764)
+            double3 xformOp:translate = (3.56301690332, 8.56023703116, 0.745976908468)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.191966389, -3.51769086e-05, 0.000509845468, 0.981401368)
+            double3 xformOp:translate = (1.80977677852, 8.25167886191, 0.74651199558)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.765894858, -0.000347665281, 0.000374577988, 0.642965633)
+            double3 xformOp:translate = (3.46112306184, 8.33316573588, 0.794773453655)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.978361288, -0.000483035191, 0.000166903627, 0.206903187)
+            double3 xformOp:translate = (3.2107403635, 8.37330866005, 0.825264563832)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506485786, -0.000311470913, -0.00040517365, -0.862248159)
+            double3 xformOp:translate = (3.63124789536, 8.77796793895, 0.819100314978)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.727652251, -0.00041245912, -0.000301757006, -0.685946019)
+            double3 xformOp:translate = (1.98618440856, 8.40168553574, 0.74663121213)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.622323681, -0.00036517853, -0.000357525464, -0.782759845)
+            double3 xformOp:translate = (2.34513128582, 8.84220309574, 0.775095314381)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.423906477, -0.000272346695, -0.000432443169, -0.905705823)
+            double3 xformOp:translate = (2.57716435795, 8.2304223215, 0.780436689823)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.763814867, -0.000346454036, 0.000375698572, 0.645435192)
+            double3 xformOp:translate = (3.23553028393, 8.86312061247, 0.811637054189)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.306596089, -0.000215779324, -0.000463270007, -0.951839575)
+            double3 xformOp:translate = (1.93038165266, 8.71612061585, 0.816818499269)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.313187651, -0.000218985904, -0.000461762915, -0.949691126)
+            double3 xformOp:translate = (3.72300913181, 8.49592141094, 0.747323564958)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998841463, 0, 0, 0.0481220492)
+            double3 xformOp:translate = (4.95788427014, 8.20222189988, 0.992972247698)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.678832883, -0.00029772915, 0.000415375938, 0.734292622)
+            double3 xformOp:translate = (3.64624068898, 8.26091648068, 0.750462748656)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.981143728, -0.000485309318, 0.000160170791, 0.193278876)
+            double3 xformOp:translate = (3.57432060584, 8.36122513748, 0.740820590511)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.724154792, -0.000323541553, 0.000395601668, 0.689637278)
+            double3 xformOp:translate = (2.35312090079, 8.28843483975, 0.745369416953)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0830391095, -0.000105242198, -0.000500103885, -0.996546158)
+            double3 xformOp:translate = (2.50170515089, 8.34318490325, 0.822885708492)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.714451397, -0.000317984285, 0.000400082255, 0.699684887)
+            double3 xformOp:translate = (3.28177836047, 8.20679965215, 0.749181434872)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.02649391, 4.98928133e-05, 0.000508616283, 0.999648844)
+            double3 xformOp:translate = (3.35677427302, 8.82965558553, 0.799371518301)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.659793627, 0, 0, 0.75144685)
+            double3 xformOp:translate = (4.97731830097, 8.38620425685, 0.927896217619)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.9707912, -0.000507503111, -6.01698342e-05, -0.239925372)
+            double3 xformOp:translate = (3.27931201145, 8.57024690068, 0.821835702737)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.950139582, -0.000462076692, 0.000218323034, 0.311824492)
+            double3 xformOp:translate = (2.05356733585, 8.89654145514, 0.787793416254)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.685199862, -0.000393617463, -0.000325952618, -0.728354919)
+            double3 xformOp:translate = (2.06268576327, 8.20460143884, 0.79733091864)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.816218782, -0.000377317254, 0.00034469045, 0.577742709)
+            double3 xformOp:translate = (3.57660564915, 8.85891095103, 0.787895359993)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0188/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0188/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aace95d7a92b1f286e169cd1c43b092ef1839d0
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0188/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 557919390209904644,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "electronics": 5,
+    "book": 1,
+    "small object": 6,
+    "office_supply": 7,
+    "clock": 3,
+    "small_electronics": 1,
+    "timepiece": 1,
+    "writing_instrument": 1,
+    "drinkware": 3,
+    "stationery": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 167,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        2.98748233451902,
+        8.217419995967065,
+        0.741040795379294
+      ],
+      "rotation_wxyz": [
+        0.998564680914952,
+        -0.0005097809271598278,
+        3.61001737444442e-05,
+        -0.05355666951374142
+      ],
+      "yaw_degrees_local": -6.198791149143005,
+      "yaw_radians": -0.10716463401294968,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.98748233451902,
+        8.217419995967065,
+        0.918540790014876
+      ],
+      "z_min": 0.741040795379294,
+      "z_max": 1.0960407846504578
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        1.9113204556929286,
+        8.561538629129675,
+        0.7408281301045023
+      ],
+      "rotation_wxyz": [
+        0.4598246113120102,
+        -0.000289440288974659,
+        -0.00042119370289521007,
+        -0.888009608986267
+      ],
+      "yaw_degrees_local": -125.30712152812018,
+      "yaw_radians": -2.1859973739179672,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9113204556929286,
+        8.561538629129675,
+        0.8908281360649668
+      ],
+      "z_min": 0.7408281301045023,
+      "z_max": 1.0408281420254313
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.502015768188471,
+        8.75150198600152,
+        0.8703851512740196
+      ],
+      "rotation_wxyz": [
+        0.8437968281622238,
+        -0.0003939049734979329,
+        0.00032560511066920527,
+        0.5366625118298786
+      ],
+      "yaw_degrees_local": 64.85475763272731,
+      "yaw_radians": 1.132953593129681,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.502015768188471,
+        8.75150198600152,
+        1.0005523007887889
+      ],
+      "z_min": 0.7404339881583835,
+      "z_max": 1.0007682871879218
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.206223356219623,
+        8.246092491322512,
+        0.7454309740089882
+      ],
+      "rotation_wxyz": [
+        0.2732134790166336,
+        -0.00019949117861975727,
+        -0.0004705136404964395,
+        -0.9619532908118832
+      ],
+      "yaw_degrees_local": -148.34755131292445,
+      "yaw_radians": -2.588128772709705,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.206223356219623,
+        8.246092491322512,
+        0.7495675753691152
+      ],
+      "z_min": 0.7411107034565207,
+      "z_max": 0.7493839061767749
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.7159598231756323,
+        8.83664674841866,
+        0.7878702322335989
+      ],
+      "rotation_wxyz": [
+        0.7319484223600455,
+        -0.0004143472410798362,
+        -0.0002991591216223244,
+        -0.6813598504643669
+      ],
+      "yaw_degrees_local": -85.9587206721415,
+      "yaw_radians": -1.4992379067074317,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7159598231756323,
+        8.83664674841866,
+        0.8353227579725793
+      ],
+      "z_min": 0.7404471826601703,
+      "z_max": 0.8353522341381312
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.061330145120728,
+        8.32288235452772,
+        0.7469914323470721
+      ],
+      "rotation_wxyz": [
+        0.5897549038003571,
+        -0.00024791335517415414,
+        0.00044689907648887167,
+        0.8075821272561792
+      ],
+      "yaw_degrees_local": 107.6620439310592,
+      "yaw_radians": 1.880082035288306,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.061330145120728,
+        8.32288235452772,
+        0.7528086451136444
+      ],
+      "z_min": 0.7410511796847624,
+      "z_max": 0.7526856052179071
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000005_obj_003_small_black_digital_alarm_clock_01_08a3917c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2160436960251388,
+        0.04350915952349481,
+        0.15541366766686496
+      ],
+      "bbox_min_m": [
+        -0.10798168427655089,
+        -0.02206325005186029,
+        -0.0775347512778458
+      ],
+      "bbox_max_m": [
+        0.10806201174858797,
+        0.02144590947163453,
+        0.07787891638901916
+      ],
+      "translation_world": [
+        1.7864709107262167,
+        8.715225684689223,
+        0.8182228661036295
+      ],
+      "rotation_wxyz": [
+        0.3738801143176776,
+        -0.0002483567375030166,
+        -0.00044665282622767576,
+        -0.9274768994093515
+      ],
+      "yaw_degrees_local": -136.1484764507764,
+      "yaw_radians": -2.375214750932367,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7864709107262167,
+        8.715225684689223,
+        0.895929699937062
+      ],
+      "z_min": 0.7406881148257837,
+      "z_max": 0.8961017824926486
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        3.563016903319179,
+        8.560237031162231,
+        0.7459769084679602
+      ],
+      "rotation_wxyz": [
+        0.5945646576284064,
+        -0.00025057636980159047,
+        0.00044541138191268664,
+        0.8040476395832525
+      ],
+      "yaw_degrees_local": 106.97807101778443,
+      "yaw_radians": 1.8681444518662165,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.563016903319179,
+        8.560237031162231,
+        0.7512920299680411
+      ],
+      "z_min": 0.7406201812346805,
+      "z_max": 0.7512504242348423
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        1.8097767785224668,
+        8.251678861908816,
+        0.7465119955799799
+      ],
+      "rotation_wxyz": [
+        0.19196638881710262,
+        -3.5176908640640976e-05,
+        0.0005098454680967563,
+        0.9814013676293227
+      ],
+      "yaw_degrees_local": 157.80616126857672,
+      "yaw_radians": 2.755261914895146,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8097767785224668,
+        8.251678861908816,
+        0.7518271170800609
+      ],
+      "z_min": 0.7411552683467003,
+      "z_max": 0.7517855113468621
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.4611230618350985,
+        8.333165735883476,
+        0.7947734536549173
+      ],
+      "rotation_wxyz": [
+        0.7658948579264178,
+        -0.0003476652808397203,
+        0.000374577987525897,
+        0.6429656331578356
+      ],
+      "yaw_degrees_local": 79.96793503247488,
+      "yaw_radians": 1.3967284264944275,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4611230618350985,
+        8.333165735883476,
+        0.8486936559483155
+      ],
+      "z_min": 0.740863419675091,
+      "z_max": 0.8487038242618874
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        3.21074036350156,
+        8.373308660045398,
+        0.8252645638319238
+      ],
+      "rotation_wxyz": [
+        0.9783612880851017,
+        -0.00048303519077238366,
+        0.00016690362703009021,
+        0.20690318701422764
+      ],
+      "yaw_degrees_local": 23.823157831060456,
+      "yaw_radians": 0.4168170018766177,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.21074036350156,
+        8.373308660045398,
+        0.9096746859266274
+      ],
+      "z_min": 0.7408544451301451,
+      "z_max": 0.9096746893195521
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.6312478953619647,
+        8.777967938950306,
+        0.8191003149780626
+      ],
+      "rotation_wxyz": [
+        0.5064857860153462,
+        -0.00031147091332990525,
+        -0.00040517364967350395,
+        -0.8622481588177507
+      ],
+      "yaw_degrees_local": -119.19863781391456,
+      "yaw_radians": -2.079384185180634,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6312478953619647,
+        8.777967938950306,
+        0.8978109778026845
+      ],
+      "z_min": 0.7403907449154374,
+      "z_max": 0.8978120705646814
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.9861844085570746,
+        8.401685535737352,
+        0.7466312121301155
+      ],
+      "rotation_wxyz": [
+        0.72765225051962,
+        -0.0004124591200658854,
+        -0.0003017570057426806,
+        -0.6859460191107725
+      ],
+      "yaw_degrees_local": -86.67882788427475,
+      "yaw_radians": -1.511806154625344,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9861844085570746,
+        8.401685535737352,
+        0.7522800633433976
+      ],
+      "z_min": 0.7409807758603286,
+      "z_max": 0.7522784782868929
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.34513128581636,
+        8.842203095741146,
+        0.775095314380776
+      ],
+      "rotation_wxyz": [
+        0.622323681216503,
+        -0.0003651785304152462,
+        -0.0003575254636582878,
+        -0.78275984479106
+      ],
+      "yaw_degrees_local": -103.08665600788638,
+      "yaw_radians": -1.798176925562106,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.34513128581636,
+        8.842203095741146,
+        0.8096950413636113
+      ],
+      "z_min": 0.7404885249303926,
+      "z_max": 0.8096879788960631
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_001_spiral_notebook_dark_gray_185aae21/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14200470217573852,
+        0.08626199776886391,
+        0.07848014967978253
+      ],
+      "bbox_min_m": [
+        -0.07063192299610234,
+        -0.043254902637959274,
+        -0.03935707351441059
+      ],
+      "bbox_max_m": [
+        0.07137277917963619,
+        0.04300709513090462,
+        0.03912307616537191
+      ],
+      "translation_world": [
+        2.5771643579492425,
+        8.230422321497372,
+        0.7804366898226865
+      ],
+      "rotation_wxyz": [
+        0.42390647684248706,
+        -0.00027234669464166447,
+        -0.0004324431687032095,
+        -0.9057058229420709
+      ],
+      "yaw_degrees_local": -129.8957702679284,
+      "yaw_radians": -2.2660844230044455,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5771643579492425,
+        8.230422321497372,
+        0.8196767646625778
+      ],
+      "z_min": 0.741079616308276,
+      "z_max": 0.8195597659880585
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        3.235530283926253,
+        8.863120612471171,
+        0.8116370541893282
+      ],
+      "rotation_wxyz": [
+        0.7638148671163013,
+        -0.0003464540363902912,
+        0.0003756985718753631,
+        0.6454351924029949
+      ],
+      "yaw_degrees_local": 80.33792731732086,
+      "yaw_radians": 1.4031860134305119,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.235530283926253,
+        8.863120612471171,
+        0.8831153009193962
+      ],
+      "z_min": 0.7403545143191176,
+      "z_max": 0.8833110077792535
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_002_vintage_gold_twin_bell_alarm_clock_d2e766b6/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1125983566904997,
+        0.05027493212449158,
+        0.1523718770441723
+      ],
+      "bbox_min_m": [
+        -0.056338043401431115,
+        -0.025411925416386174,
+        -0.07614952648720232
+      ],
+      "bbox_max_m": [
+        0.056260313289068574,
+        0.024863006708105373,
+        0.07622235055696999
+      ],
+      "translation_world": [
+        1.9303816526587059,
+        8.716120615845615,
+        0.8168184992691819
+      ],
+      "rotation_wxyz": [
+        0.30659608936386,
+        -0.00021577932360165145,
+        -0.00046327000738913195,
+        -0.9518395751422464
+      ],
+      "yaw_degrees_local": -144.35027707377694,
+      "yaw_radians": -2.5183631814124583,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9303816526587059,
+        8.716120615845615,
+        0.893004437791268
+      ],
+      "z_min": 0.7406689727819796,
+      "z_max": 0.893040849826152
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        3.7230091318077436,
+        8.495921410944721,
+        0.7473235649577157
+      ],
+      "rotation_wxyz": [
+        0.3131876512282782,
+        -0.0002189859043496015,
+        -0.0004617629152893287,
+        -0.9496911255446681
+      ],
+      "yaw_degrees_local": -143.55582834385416,
+      "yaw_radians": -2.5044974357851455,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7230091318077436,
+        8.495921410944721,
+        0.7539363692412034
+      ],
+      "z_min": 0.7406651416915594,
+      "z_max": 0.7538907502585349
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        4.957884270142083,
+        8.202221899881176,
+        0.9929722476982082
+      ],
+      "rotation_wxyz": [
+        0.998841463085636,
+        0.0,
+        0.0,
+        0.048122049218068175
+      ],
+      "yaw_degrees_local": -84.48348883137312,
+      "yaw_radians": 0.09628128311557908,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.957884270142083,
+        8.202221899881176,
+        1.065834692304952
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 1.0659249181098192
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.6462406889834957,
+        8.260916480683377,
+        0.7504627486555878
+      ],
+      "rotation_wxyz": [
+        0.6788328834005727,
+        -0.00029772914995971174,
+        0.00041537593756088,
+        0.7342926223476908
+      ],
+      "yaw_degrees_local": 94.43626050752079,
+      "yaw_radians": 1.6492484722696006,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6462406889834957,
+        8.260916480683377,
+        0.7599665815777923
+      ],
+      "z_min": 0.7409132194115888,
+      "z_max": 0.7599208852559975
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5743206058404615,
+        8.361225137484317,
+        0.7408205905110153
+      ],
+      "rotation_wxyz": [
+        0.9811437278851886,
+        -0.0004853093178784742,
+        0.00016017079078484535,
+        0.19327887637230023
+      ],
+      "yaw_degrees_local": 22.22968822851621,
+      "yaw_radians": 0.38900571795402783,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5743206058404615,
+        8.361225137484317,
+        0.7908206843883309
+      ],
+      "z_min": 0.7408205905110153,
+      "z_max": 0.8408207782656464
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        2.353120900790988,
+        8.288434839749774,
+        0.745369416953264
+      ],
+      "rotation_wxyz": [
+        0.7241547922100402,
+        -0.0003235415534016441,
+        0.0003956016676693409,
+        0.689637278385832
+      ],
+      "yaw_degrees_local": 87.14411016151053,
+      "yaw_radians": 1.5219763754278828,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.353120900790988,
+        8.288434839749774,
+        0.749506018313391
+      ],
+      "z_min": 0.7410491464007966,
+      "z_max": 0.7493223491210507
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        2.5017051508878643,
+        8.343184903249842,
+        0.8228857084924668
+      ],
+      "rotation_wxyz": [
+        0.0830391094556548,
+        -0.00010524219829382639,
+        -0.000500103885146472,
+        -0.9965461580483846
+      ],
+      "yaw_degrees_local": -170.53215831483462,
+      "yaw_radians": -2.975323096377323,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5017051508878643,
+        8.343184903249842,
+        0.9048217175332857
+      ],
+      "z_min": 0.7409748318639395,
+      "z_max": 0.9048468499455773
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        3.2817783604688415,
+        8.206799652152885,
+        0.7491814348718586
+      ],
+      "rotation_wxyz": [
+        0.7144513968019363,
+        -0.00031798428532253046,
+        0.0004000822547029949,
+        0.6996848865224589
+      ],
+      "yaw_degrees_local": 88.74475996952566,
+      "yaw_radians": 1.549912999107471,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2817783604688415,
+        8.206799652152885,
+        0.7574174416239994
+      ],
+      "z_min": 0.7410142835036956,
+      "z_max": 0.757486297007977
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_095_restaurant_asset_000020_obj_003_clear_cylindrical_drinking_glass_149ef1c8/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06502681109994324,
+        0.08331449322444587,
+        0.11825255606504027
+      ],
+      "bbox_min_m": [
+        -0.03255112336834243,
+        -0.041594494843605986,
+        -0.0589984308407061
+      ],
+      "bbox_max_m": [
+        0.03247568773160081,
+        0.04171999838083985,
+        0.05925412522433415
+      ],
+      "translation_world": [
+        3.3567742730238788,
+        8.829655585527304,
+        0.7993715183009785
+      ],
+      "rotation_wxyz": [
+        0.026493909956192028,
+        4.989281326457208e-05,
+        0.0005086162830905624,
+        0.9996488441224833
+      ],
+      "yaw_degrees_local": 176.90495545264088,
+      "yaw_radians": 3.088598588753298,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3567742730238788,
+        8.829655585527304,
+        0.8584977963334987
+      ],
+      "z_min": 0.7403730874602724,
+      "z_max": 0.8586256435253127
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        4.977318300971927,
+        8.386204256847101,
+        0.9278962176185521
+      ],
+      "rotation_wxyz": [
+        0.6597936274987413,
+        0.0,
+        0.0,
+        0.7514468504904737
+      ],
+      "yaw_degrees_local": 7.431728896647627,
+      "yaw_radians": 1.7005044651570032,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.977318300971927,
+        8.386204256847101,
+        0.9357511239623527
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.935909841583933
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        3.2793120114481447,
+        8.570246900681736,
+        0.8218357027365752
+      ],
+      "rotation_wxyz": [
+        0.9707912003030645,
+        -0.0005075031106192243,
+        -6.0169834237132634e-05,
+        -0.23992537221877838
+      ],
+      "yaw_degrees_local": -27.82298574590348,
+      "yaw_radians": -0.4845778465448506,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2793120114481447,
+        8.570246900681736,
+        0.9030795560299403
+      ],
+      "z_min": 0.7406460142426886,
+      "z_max": 0.9031337208294186
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.0535673358503588,
+        8.896541455140591,
+        0.7877934162541745
+      ],
+      "rotation_wxyz": [
+        0.9501395819786432,
+        -0.00046207669160459695,
+        0.0002183230343231396,
+        0.31182449162571124
+      ],
+      "yaw_degrees_local": 36.279729049092,
+      "yaw_radians": 0.6342251529572973,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0535673358503588,
+        8.896541455140591,
+        0.8351595429154295
+      ],
+      "z_min": 0.7404703613394248,
+      "z_max": 0.8352026146619348
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        2.0626857632679565,
+        8.20460143884429,
+        0.7973309186397849
+      ],
+      "rotation_wxyz": [
+        0.6851998615245035,
+        -0.00039361746311422614,
+        -0.0003259526176790631,
+        -0.7283549193813311
+      ],
+      "yaw_degrees_local": -93.55604203743397,
+      "yaw_radians": -1.6318362456203315,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0626857632679565,
+        8.20460143884429,
+        0.8535131984496775
+      ],
+      "z_min": 0.7411709984698207,
+      "z_max": 0.853535558089606
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.5766056491536204,
+        8.85891095103385,
+        0.7878953599932228
+      ],
+      "rotation_wxyz": [
+        0.8162187822684435,
+        -0.00037731725353195395,
+        0.0003446904501540705,
+        0.5777427094238432
+      ],
+      "yaw_degrees_local": 70.52516609435534,
+      "yaw_radians": 1.2319209352973577,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5766056491536204,
+        8.85891095103385,
+        0.8352942854213232
+      ],
+      "z_min": 0.7403155568809231,
+      "z_max": 0.8351134077371241
+    }
+  ],
+  "variant_index": 188
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0192/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0192/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..43a57993f9841ede0fbbb3c02c0b2b774ca9cd93
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0192/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 2443927074821266775
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.646443778, -0.000279487932, 0.000427862492, 0.762961454)
+            double3 xformOp:translate = (3.50035031217, 8.71860285019, 0.740467498654)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.33936428, -0.000112506043, 0.000498520016, 0.940654891)
+            double3 xformOp:translate = (1.80886532743, 8.69383487379, 0.740706929181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.248203294, -0.000187236019, -0.000475523385, -0.968707832)
+            double3 xformOp:translate = (2.72767364411, 8.22864290501, 0.788642158762)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987068674, 0, 0, -0.160297949)
+            double3 xformOp:translate = (4.92404182018, 8.11925919392, 0.925282241993)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.587285519, -0.0003490965, -0.000373244491, -0.809379675)
+            double3 xformOp:translate = (2.80944907073, 8.84448811168, 0.882062296956)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.826760732, -0.00038362549, 0.000337655594, 0.562553491)
+            double3 xformOp:translate = (3.62392923834, 8.85896046308, 0.819019097036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.603107361, -0.000255313181, 0.000442713221, 0.797659858)
+            double3 xformOp:translate = (1.99038533609, 8.45900745036, 0.787512361118)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.532477927, -0.000323650724, -0.000395512358, -0.846443735)
+            double3 xformOp:translate = (2.90424045272, 8.31113281777, 0.746313025691)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.334285436, -0.000229227576, -0.000456765295, -0.942471743)
+            double3 xformOp:translate = (3.68022702035, 8.4967218079, 0.777325316838)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.491281618, -0.000304315111, -0.000410575364, -0.871000638)
+            double3 xformOp:translate = (3.07265146202, 8.22410171281, 0.781586777179)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.360202536, -0.000241762527, -0.000450256257, -0.932873985)
+            double3 xformOp:translate = (3.27208887736, 8.41779067794, 0.752044611951)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.360645427, -0.000241976284, -0.000450141416, -0.932702854)
+            double3 xformOp:translate = (2.01778131, 8.60974764373, 0.746052960176)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.3624962, -0.000242869371, -0.000449660188, -0.931985109)
+            double3 xformOp:translate = (3.52401519683, 8.21948239902, 0.767569970776)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997436021, -0.000501282228, 9.94783583e-05, 0.0715620237)
+            double3 xformOp:translate = (2.58208892901, 8.30516522461, 0.772835074453)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.715137403, -0.00031837659, 0.000399770138, 0.698983715)
+            double3 xformOp:translate = (3.21107672781, 8.5337773374, 0.775298413451)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.911818426, -0.000488408985, -0.000150454244, -0.410593346)
+            double3 xformOp:translate = (3.3084656046, 8.27771671089, 0.788518799537)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.860173355, -0.000468516506, -0.000204137453, -0.510001508)
+            double3 xformOp:translate = (2.32484627414, 8.27845853027, 0.772894754175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0882209315, -0.000107841769, -0.000499549766, -0.996100801)
+            double3 xformOp:translate = (1.95151100566, 8.83829153035, 0.826929648387)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.606100406, -0.000357751448, -0.000364957145, -0.795387979)
+            double3 xformOp:translate = (3.47744861124, 8.50100001622, 0.793369051531)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.986378234, -0.000510628818, -2.09290755e-05, -0.164492306)
+            double3 xformOp:translate = (3.72599434865, 8.82611632114, 0.787652945315)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.00573113575, -6.62558454e-05, -0.000506744491, -0.999983446)
+            double3 xformOp:translate = (3.67849440652, 8.73725542056, 0.748122202303)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.95846045, 0, 0, -0.285225464)
+            double3 xformOp:translate = (4.90312434121, 8.76879504514, 0.925850465166)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.731717535, -0.000327885413, 0.000392008893, 0.681607796)
+            double3 xformOp:translate = (1.80347815437, 8.23680879107, 0.754549435456)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.904502372, 0, 0, -0.426468591)
+            double3 xformOp:translate = (4.98473329335, 8.31042635811, 0.925563491643)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997299059, -0.000501093417, 0.000100425115, 0.0734460766)
+            double3 xformOp:translate = (2.0783317917, 8.2891817382, 0.753593601374)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.149501036, -0.000138452935, -0.00049194573, -0.988761437)
+            double3 xformOp:translate = (2.32927868382, 8.84028335789, 0.78781554209)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998806289, -0.0005096049, 3.85053526e-05, -0.0488439943)
+            double3 xformOp:translate = (3.70683398105, 8.26993765411, 0.857736028254)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.80562918, -0.000371017288, 0.000351462641, 0.592419921)
+            double3 xformOp:translate = (1.78910243135, 8.42799792634, 0.812261633648)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.178501022, -2.81876081e-05, 0.000510279605, 0.983939594)
+            double3 xformOp:translate = (3.4506305076, 8.65648387986, 0.745824015183)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.941108988, -0.000455832378, 0.000231077172, 0.33810296)
+            double3 xformOp:translate = (3.60807090829, 8.59772401961, 0.746266253235)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0192/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0192/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..078b91b58f7c05cdac5d2c810da97f502a8a99d3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0192/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 2443927074821266775,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "drinkware": 6,
+    "paper goods": 2,
+    "electronics": 5,
+    "small object": 5,
+    "timepiece": 1,
+    "office_supply": 3,
+    "small electronic device": 1,
+    "office_supplies": 3,
+    "small prop": 1,
+    "writing_instrument": 1,
+    "book": 1,
+    "clock": 1
+  },
+  "failed_sampling_attempt_count": 189,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.5003503121740507,
+        8.71860285019098,
+        0.7404674986543961
+      ],
+      "rotation_wxyz": [
+        0.6464437783536525,
+        -0.00027948793191249143,
+        0.00042786249211118193,
+        0.7629614539726355
+      ],
+      "yaw_degrees_local": 99.39325387171817,
+      "yaw_radians": 1.735764367257269,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5003503121740507,
+        8.71860285019098,
+        0.7904675925317116
+      ],
+      "z_min": 0.7404674986543961,
+      "z_max": 0.8404676864090271
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.8088653274326316,
+        8.693834873792381,
+        0.7407069291808261
+      ],
+      "rotation_wxyz": [
+        0.3393642802821116,
+        -0.00011250604276116487,
+        0.0004985200162305778,
+        0.9406548910672758
+      ],
+      "yaw_degrees_local": 140.26498951825414,
+      "yaw_radians": 2.449110819413434,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8088653274326316,
+        8.693834873792381,
+        0.7632039408946092
+      ],
+      "z_min": 0.7407069321757607,
+      "z_max": 0.7857009556033268
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        2.72767364410625,
+        8.22864290500738,
+        0.7886421587620719
+      ],
+      "rotation_wxyz": [
+        0.24820329447456108,
+        -0.00018723601881511585,
+        -0.00047552338480728596,
+        -0.9687078318214208
+      ],
+      "yaw_degrees_local": -151.3162708953536,
+      "yaw_radians": -2.6399426968505613,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.72767364410625,
+        8.22864290500738,
+        0.8360410841901723
+      ],
+      "z_min": 0.7410623556497722,
+      "z_max": 0.8358602065059731
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000077_obj_001_smartphone_black_silver_0a80ee92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.17993073244675517,
+        0.09162149496404973,
+        0.010259205392155888
+      ],
+      "bbox_min_m": [
+        -0.09001579002762698,
+        -0.04578444546252019,
+        -0.00508221309706507
+      ],
+      "bbox_max_m": [
+        0.08991494241912819,
+        0.04583704950152954,
+        0.005176992295090803
+      ],
+      "translation_world": [
+        4.924041820177608,
+        8.119259193917948,
+        0.9252822419933968
+      ],
+      "rotation_wxyz": [
+        0.987068674106937,
+        0.0,
+        0.0,
+        -0.1602979494465646
+      ],
+      "yaw_degrees_local": -108.44838137881204,
+      "yaw_radians": -0.3219849967238813,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.924041820177608,
+        8.119259193917948,
+        0.9304118446894748
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9304592342884876
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.8094490707325273,
+        8.844488111684703,
+        0.8820622969564138
+      ],
+      "rotation_wxyz": [
+        0.587285519068774,
+        -0.00034909650001345855,
+        -0.0003732444908081912,
+        -0.80937967475858
+      ],
+      "yaw_degrees_local": -108.129467380518,
+      "yaw_radians": -1.8861906315140178,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8094490707325273,
+        8.844488111684703,
+        1.0236230841521652
+      ],
+      "z_min": 0.7404274337172932,
+      "z_max": 1.0235490081087961
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.6239292383393953,
+        8.858960463077914,
+        0.8190190970360102
+      ],
+      "rotation_wxyz": [
+        0.82676073209189,
+        -0.0003836254897166509,
+        0.00033765559358608644,
+        0.5625534914042096
+      ],
+      "yaw_degrees_local": 68.40644632583562,
+      "yaw_radians": 1.1949422821584832,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6239292383393953,
+        8.858960463077914,
+        0.8977297598606321
+      ],
+      "z_min": 0.740309526973385,
+      "z_max": 0.897730852622629
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        1.99038533609294,
+        8.459007450361332,
+        0.7875123611178314
+      ],
+      "rotation_wxyz": [
+        0.6031073612316127,
+        -0.0002553131805211133,
+        0.0004427132210500451,
+        0.7976598583659736
+      ],
+      "yaw_degrees_local": 105.75573492533238,
+      "yaw_radians": 1.8468106549005925,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.99038533609294,
+        8.459007450361332,
+        0.8340939643837494
+      ],
+      "z_min": 0.7409221272531313,
+      "z_max": 0.8340853337849673
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000038_obj_001_black_closed_notebook_ab1c2821/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.10513331822541525,
+        0.1386186960152821,
+        0.010630243000161889
+      ],
+      "bbox_min_m": [
+        -0.052512926248110534,
+        -0.06905349931379241,
+        -0.005356727233279673
+      ],
+      "bbox_max_m": [
+        0.052620391977304705,
+        0.0695651967014897,
+        0.005273515766882185
+      ],
+      "translation_world": [
+        2.9042404527157935,
+        8.311132817768568,
+        0.7463130256910994
+      ],
+      "rotation_wxyz": [
+        0.532477927042036,
+        -0.000323650723922004,
+        -0.000395512357765311,
+        -0.8464437347120009
+      ],
+      "yaw_degrees_local": -115.7126374772421,
+      "yaw_radians": -2.018541977447033,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9042404527157935,
+        8.311132817768568,
+        0.7516281471911803
+      ],
+      "z_min": 0.7409562984578197,
+      "z_max": 0.7515865414579815
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.6802270203474974,
+        8.496721807895089,
+        0.7773253168382548
+      ],
+      "rotation_wxyz": [
+        0.33428543577857156,
+        -0.00022922757572365807,
+        -0.0004567652950566267,
+        -0.9424717429432644
+      ],
+      "yaw_degrees_local": -141.00052205259377,
+      "yaw_radians": -2.459898927686035,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6802270203474974,
+        8.496721807895089,
+        0.8139355299074335
+      ],
+      "z_min": 0.7406697661139701,
+      "z_max": 0.8138901922523274
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        3.0726514620199277,
+        8.224101712811617,
+        0.7815867771785167
+      ],
+      "rotation_wxyz": [
+        0.4912816178371912,
+        -0.00030431511133814453,
+        -0.00041057536366855387,
+        -0.8710006376550227
+      ],
+      "yaw_degrees_local": -121.20899507151852,
+      "yaw_radians": -2.1144715511851855,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0726514620199277,
+        8.224101712811617,
+        0.8221367863180482
+      ],
+      "z_min": 0.7410232487319517,
+      "z_max": 0.8221232670110147
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.272088877355097,
+        8.417790677938658,
+        0.7520446119512706
+      ],
+      "rotation_wxyz": [
+        0.3602025357793052,
+        -0.0002417625274948899,
+        -0.00045025625652465423,
+        -0.932873985079626
+      ],
+      "yaw_degrees_local": -137.83343472622778,
+      "yaw_radians": -2.40462282336428,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.272088877355097,
+        8.417790677938658,
+        0.7632776111751828
+      ],
+      "z_min": 0.7408015188913214,
+      "z_max": 0.7632675173391458
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        2.0177813099987665,
+        8.609747643725978,
+        0.7460529601762329
+      ],
+      "rotation_wxyz": [
+        0.360645427045358,
+        -0.000241976283506815,
+        -0.0004501414160689306,
+        -0.9327028544887462
+      ],
+      "yaw_degrees_local": -137.77902624663454,
+      "yaw_radians": -2.403673216178947,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0177813099987665,
+        8.609747643725978,
+        0.7513539508073463
+      ],
+      "z_min": 0.7407657490229652,
+      "z_max": 0.7513677302851922
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_001_digital_alarm_clock_gray_rectangular_f51cef1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09678849456334004,
+        0.04611164003512841,
+        0.05314896931214802
+      ],
+      "bbox_min_m": [
+        -0.04810186260619091,
+        -0.023146594594623395,
+        -0.02659923257266575
+      ],
+      "bbox_max_m": [
+        0.048686631957149125,
+        0.022965045440505004,
+        0.026549736739482254
+      ],
+      "translation_world": [
+        3.524015196831577,
+        8.219482399022247,
+        0.7675699707759959
+      ],
+      "rotation_wxyz": [
+        0.36249620040064,
+        -0.00024286937064373345,
+        -0.00044966018841279405,
+        -0.9319851090630596
+      ],
+      "yaw_degrees_local": -137.5515534053998,
+      "yaw_radians": -2.399703065815107,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.524015196831577,
+        8.219482399022247,
+        0.7941444554320699
+      ],
+      "z_min": 0.7409707382033301,
+      "z_max": 0.7941197075154781
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        2.5820889290141587,
+        8.305165224606634,
+        0.7728350744533066
+      ],
+      "rotation_wxyz": [
+        0.9974360207983649,
+        -0.0005012822283689848,
+        9.947835825815417e-05,
+        0.07156202368650368
+      ],
+      "yaw_degrees_local": 8.148709907871364,
+      "yaw_radians": 0.14324637463180143,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5820889290141587,
+        8.305165224606634,
+        0.8046862921967785
+      ],
+      "z_min": 0.7410031817713878,
+      "z_max": 0.8047056172583316
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        3.2110767278066725,
+        8.533777337402675,
+        0.775298413451495
+      ],
+      "rotation_wxyz": [
+        0.7151374027961513,
+        -0.00031837658950057443,
+        0.0003997701383273835,
+        0.6989837150765096
+      ],
+      "yaw_degrees_local": 88.63235236991989,
+      "yaw_radians": 1.5479511153867018,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2110767278066725,
+        8.533777337402675,
+        0.8098981404343303
+      ],
+      "z_min": 0.7406916240011117,
+      "z_max": 0.8098910779667822
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        3.308465604597663,
+        8.277716710891491,
+        0.7885187995369548
+      ],
+      "rotation_wxyz": [
+        0.9118184264287178,
+        -0.0004884089849491102,
+        -0.000150454244411025,
+        -0.41059334632363564
+      ],
+      "yaw_degrees_local": -48.542943836577024,
+      "yaw_radians": -0.8462092493590389,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.308465604597663,
+        8.277716710891491,
+        0.8359177249650552
+      ],
+      "z_min": 0.7409389964246551,
+      "z_max": 0.8357368472808561
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_rectangular_box_001_black_rectangular_box_a33c892e/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16101393878460624,
+        0.1367013814481623,
+        0.06370243548694379
+      ],
+      "bbox_min_m": [
+        -0.08016898536466735,
+        -0.06836928849837143,
+        -0.031831892681918814
+      ],
+      "bbox_max_m": [
+        0.08084495341993887,
+        0.06833209294979083,
+        0.031870542805024944
+      ],
+      "translation_world": [
+        2.3248462741375597,
+        8.278458530267931,
+        0.772894754174648
+      ],
+      "rotation_wxyz": [
+        0.8601733549907409,
+        -0.00046851650624979744,
+        -0.00020413745274151953,
+        -0.5100015080214536
+      ],
+      "yaw_degrees_local": -61.38657967376031,
+      "yaw_radians": -1.0703729939169009,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3248462741375597,
+        8.278458530267931,
+        0.8047459719181199
+      ],
+      "z_min": 0.7410628614927293,
+      "z_max": 0.804765296979673
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_092_bedroom_asset_000046_obj_001_vintage_twin_bell_alarm_clock_e94c99c2/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12376554086027466,
+        0.06084857295345106,
+        0.17279855791653337
+      ],
+      "bbox_min_m": [
+        -0.06188564040196916,
+        -0.030545700878288846,
+        -0.08638725704236097
+      ],
+      "bbox_max_m": [
+        0.061879900458305506,
+        0.03030287207516217,
+        0.08641130087417238
+      ],
+      "translation_world": [
+        1.9515110056632037,
+        8.838291530350837,
+        0.8269296483867905
+      ],
+      "rotation_wxyz": [
+        0.08822093145018951,
+        -0.00010784176930873023,
+        -0.0004995497663223107,
+        -0.9961008011613307
+      ],
+      "yaw_degrees_local": -169.936175449218,
+      "yaw_radians": -2.9649212375971494,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9515110056632037,
+        8.838291530350837,
+        0.9133289273450572
+      ],
+      "z_min": 0.7405423913444296,
+      "z_max": 0.9133409492609629
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.4774486112425493,
+        8.501000016221301,
+        0.7933690515308418
+      ],
+      "rotation_wxyz": [
+        0.6061004061692702,
+        -0.0003577514479169818,
+        -0.0003649571450918802,
+        -0.7953879785750033
+      ],
+      "yaw_degrees_local": -105.44256319265924,
+      "yaw_radians": -1.8392952836269316,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4774486112425493,
+        8.501000016221301,
+        0.8459180803900599
+      ],
+      "z_min": 0.7406911276384992,
+      "z_max": 0.8457891853569355
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.7259943486532903,
+        8.826116321136665,
+        0.7876529453148406
+      ],
+      "rotation_wxyz": [
+        0.9863782338511055,
+        -0.0005106288182621124,
+        -2.0929075482476242e-05,
+        -0.16449230561019518
+      ],
+      "yaw_degrees_local": -18.994198409759264,
+      "yaw_radians": -0.33048650621922704,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7259943486532903,
+        8.826116321136665,
+        0.8350190719760956
+      ],
+      "z_min": 0.7403298904000909,
+      "z_max": 0.8350621437226009
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_063_living_room_asset_000150_obj_003_dark_remote_control_f3b6601b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1643008514122195,
+        0.05639832352460508,
+        0.01570981268760109
+      ],
+      "bbox_min_m": [
+        -0.08216684900242624,
+        -0.02818364921842874,
+        -0.007696188722220282
+      ],
+      "bbox_max_m": [
+        0.08213400240979328,
+        0.028214674306176357,
+        0.008013623965380804
+      ],
+      "translation_world": [
+        3.6784944065196563,
+        8.737255420555401,
+        0.7481222023033933
+      ],
+      "rotation_wxyz": [
+        0.005731135752564343,
+        -6.6255845364816e-05,
+        -0.0005067444910359718,
+        -0.9999834463145726
+      ],
+      "yaw_degrees_local": -179.40196695736552,
+      "yaw_radians": -3.1301303878769096,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6784944065196563,
+        8.737255420555401,
+        0.7559771086471939
+      ],
+      "z_min": 0.740426013581173,
+      "z_max": 0.7561358262687742
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        4.9031243412098915,
+        8.768795045137018,
+        0.9258504651661187
+      ],
+      "rotation_wxyz": [
+        0.9584604502379998,
+        0.0,
+        0.0,
+        -0.2852254640272688
+      ],
+      "yaw_degrees_local": -123.14465224491786,
+      "yaw_radians": -0.5784833111023467,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9031243412098915,
+        8.768795045137018,
+        0.9314993163794008
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.931497731322896
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_022_bedroom_asset_000069_obj_001_green_hardcover_book_d6699c4f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1325708423735661,
+        0.18928556439867555,
+        0.02680887481447468
+      ],
+      "bbox_min_m": [
+        -0.0664067132684623,
+        -0.09461816488344668,
+        -0.013378283172435218
+      ],
+      "bbox_max_m": [
+        0.06616412910510377,
+        0.09466739951522884,
+        0.013430591642039419
+      ],
+      "translation_world": [
+        1.8034781543690197,
+        8.236808791072537,
+        0.754549435456334
+      ],
+      "rotation_wxyz": [
+        0.7317175348538872,
+        -0.00032788541292331586,
+        0.00039200889305272054,
+        0.6816077963224411
+      ],
+      "yaw_degrees_local": 85.8801235857394,
+      "yaw_radians": 1.4999156365524944,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8034781543690197,
+        8.236808791072537,
+        0.7679538728635713
+      ],
+      "z_min": 0.7411711522838988,
+      "z_max": 0.7679800270983734
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        4.984733293346974,
+        8.31042635810543,
+        0.9255634916431419
+      ],
+      "rotation_wxyz": [
+        0.9045023718323784,
+        0.0,
+        0.0,
+        -0.4264685912814705
+      ],
+      "yaw_degrees_local": -140.48731182310547,
+      "yaw_radians": -0.8811698217942516,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.984733293346974,
+        8.31042635810543,
+        0.9308989323381427
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9308709102863334
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000029_obj_003_black_tv_remote_control_4d7e9bdd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07089784690206284,
+        0.23925660324943204,
+        0.0251416455305297
+      ],
+      "bbox_min_m": [
+        -0.03542863186578272,
+        -0.11961311839376816,
+        -0.01251039213585153
+      ],
+      "bbox_max_m": [
+        0.035469215036280095,
+        0.11964348485566384,
+        0.012631253394678141
+      ],
+      "translation_world": [
+        2.078331791695585,
+        8.28918173819676,
+        0.7535936013744017
+      ],
+      "rotation_wxyz": [
+        0.9972990587877782,
+        -0.0005010934169745648,
+        0.00010042511491189661,
+        0.07344607655413334
+      ],
+      "yaw_degrees_local": 8.3651762380604,
+      "yaw_radians": 0.14702442311943809,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.078331791695585,
+        8.28918173819676,
+        0.7661644241396666
+      ],
+      "z_min": 0.7410832092385502,
+      "z_max": 0.7662248547690799
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.3292786838189774,
+        8.840283357886817,
+        0.7878155420899481
+      ],
+      "rotation_wxyz": [
+        0.14950103597787784,
+        -0.00013845293539742383,
+        -0.0004919457296492667,
+        -0.9887614368803657
+      ],
+      "yaw_degrees_local": -162.86268419739582,
+      "yaw_radians": -2.841465573773511,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3292786838189774,
+        8.840283357886817,
+        0.835181668751203
+      ],
+      "z_min": 0.7404924871751983,
+      "z_max": 0.8352247404977083
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_004_gray_twin_bell_alarm_clock_a9cf859f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.16435306720779314,
+        0.07117583102110842,
+        0.23371763735194484
+      ],
+      "bbox_min_m": [
+        -0.08221162409708048,
+        -0.035439043222781436,
+        -0.11683957960026457
+      ],
+      "bbox_max_m": [
+        0.08214144311071263,
+        0.03573678779832694,
+        0.11687805775168025
+      ],
+      "translation_world": [
+        3.706833981049266,
+        8.269937654105052,
+        0.8577360282535176
+      ],
+      "rotation_wxyz": [
+        0.9988062890490395,
+        -0.0005096048999610008,
+        3.850535256365008e-05,
+        -0.04884399427023455
+      ],
+      "yaw_degrees_local": -5.658048533625646,
+      "yaw_radians": -0.09772689989144726,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.706833981049266,
+        8.269937654105052,
+        0.97459484692949
+      ],
+      "z_min": 0.740896448653253,
+      "z_max": 0.9746140860051978
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000174_obj_002_small_stainless_steel_tumbler_2d1fe258/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11016477623532,
+        0.1112256797695837,
+        0.14295649346013606
+      ],
+      "bbox_min_m": [
+        -0.05513512827647039,
+        -0.05565081302955486,
+        -0.07128253987021062
+      ],
+      "bbox_max_m": [
+        0.055029647958849605,
+        0.05557486674002878,
+        0.07167395358992537
+      ],
+      "translation_world": [
+        1.7891024313477517,
+        8.427997926344515,
+        0.8122616336482275
+      ],
+      "rotation_wxyz": [
+        0.8056291804449269,
+        -0.0003710172881635736,
+        0.0003514626411498958,
+        0.5924199206946197
+      ],
+      "yaw_degrees_local": 72.59914423405249,
+      "yaw_radians": 1.2681186999124563,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7891024313477517,
+        8.427997926344515,
+        0.8837398803782954
+      ],
+      "z_min": 0.7409790937780169,
+      "z_max": 0.8839355872381528
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_069_conference_room_asset_000102_obj_002_black_ballpoint_pen_a00fb3cb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15134144102925762,
+        0.00880275225817976,
+        0.010601981262226941
+      ],
+      "bbox_min_m": [
+        -0.07557948248632083,
+        -0.004427063410829233,
+        -0.0052872111532676755
+      ],
+      "bbox_max_m": [
+        0.07576195854293681,
+        0.0043756888473505265,
+        0.005314770108959264
+      ],
+      "translation_world": [
+        3.450630507601379,
+        8.65648387985982,
+        0.7458240151829725
+      ],
+      "rotation_wxyz": [
+        0.1785010216199734,
+        -2.8187608075215824e-05,
+        0.0005102796047181491,
+        0.9839395937255547
+      ],
+      "yaw_degrees_local": 159.3763654285131,
+      "yaw_radians": 2.782667134830592,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.450630507601379,
+        8.65648387985982,
+        0.7511250058140859
+      ],
+      "z_min": 0.7405368040297048,
+      "z_max": 0.7511387852919318
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.608070908290692,
+        8.597724019613091,
+        0.7462662532351604
+      ],
+      "rotation_wxyz": [
+        0.9411089880997,
+        -0.000455832378116997,
+        0.00023107717174250623,
+        0.3381029596707823
+      ],
+      "yaw_degrees_local": 39.4639713542941,
+      "yaw_radians": 0.6898006654162618,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.608070908290692,
+        8.597724019613091,
+        0.7520973042599466
+      ],
+      "z_min": 0.7405764525058357,
+      "z_max": 0.7522385545554081
+    }
+  ],
+  "variant_index": 192
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0194/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0194/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..b7b5d06687c1a22d819d3f0f4331b88f627f7467
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0194/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 5171148849035993698
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.895511025, -0.000425934465, 0.000282417506, 0.445039035)
+            double3 xformOp:translate = (3.47789525273, 8.58255691442, 0.740608325901)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.839794571, -0.00039147996, 0.000328516753, 0.542904058)
+            double3 xformOp:translate = (3.67062930549, 8.39070768279, 0.740778485945)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.702320157, -0.000311060974, 0.000405488454, 0.711861037)
+            double3 xformOp:translate = (3.45950334762, 8.85059640758, 0.751917535965)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.316763313, -0.000220724005, -0.000460934627, -0.948504477)
+            double3 xformOp:translate = (2.47159707405, 8.28142793205, 0.74640470526)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.952088005, -0.000463444918, 0.000215403398, 0.305823754)
+            double3 xformOp:translate = (1.82246074727, 8.46865710905, 0.82534375495)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (-0.00787557782, 0, 0, 0.999968987)
+            double3 xformOp:translate = (4.90744772704, 8.76801681077, 1.02045703437)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.129872049, -0.000128674193, -0.000494593538, -0.99153063)
+            double3 xformOp:translate = (3.18049514702, 8.59886847349, 0.744949735929)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998843006, -0.000509575583, 3.88914109e-05, -0.0480872989)
+            double3 xformOp:translate = (2.81535419484, 8.33144454315, 0.788370031188)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.238939027, -5.96542334e-05, 0.000507563975, 0.971034438)
+            double3 xformOp:translate = (3.67276099057, 8.50594587964, 0.751904436503)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997176447, -0.000510441233, 2.50911056e-05, -0.0750924202)
+            double3 xformOp:translate = (1.75405699667, 8.72571137822, 0.751701598994)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.99999606, -0.000506939086, 6.47501335e-05, 0.00276039336)
+            double3 xformOp:translate = (1.91155513578, 8.22652811924, 0.749162117803)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.815813126, -0.000450348447, -0.000241590753, -0.578315383)
+            double3 xformOp:translate = (1.89750577353, 8.61390276464, 0.840996309964)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "timepiece"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0591370956, 3.32502989e-05, 0.000509974738, 0.99824974)
+            double3 xformOp:translate = (3.38554358239, 8.37837143724, 0.81953672962)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.634113216, -0.000370554107, -0.000351950948, -0.773240046)
+            double3 xformOp:translate = (1.87972678606, 8.78615141161, 0.746254762768)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0245272849, -7.57696546e-05, -0.000505409513, -0.99969903)
+            double3 xformOp:translate = (3.69026119525, 8.19459941425, 0.744484327514)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0832833899, -0.000105364785, -0.000500078072, -0.996525773)
+            double3 xformOp:translate = (2.92310957059, 8.30334711575, 0.780307785942)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.778839041, -0.000434696663, -0.000268735236, -0.627223634)
+            double3 xformOp:translate = (2.58444736595, 8.22593531444, 0.744122648956)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.126401235, -1.25767025e-06, 0.000511055999, 0.991979066)
+            double3 xformOp:translate = (2.06832930997, 8.86795620156, 0.745860923894)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0948586222, -0.000111169193, -0.000498819834, -0.995490623)
+            double3 xformOp:translate = (1.77134991245, 8.29940985281, 0.78770198217)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.719189226, -0.000320695483, 0.000397912331, 0.694814073)
+            double3 xformOp:translate = (2.10931779408, 8.36020788102, 0.788330319377)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.652687601, -0.000282992216, 0.000425552842, 0.757626975)
+            double3 xformOp:translate = (3.60935179678, 8.83451531677, 0.775302247143)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.913073677, -0.000437200239, 0.000264642716, 0.407794311)
+            double3 xformOp:translate = (2.70016574193, 8.31394427232, 0.747637727431)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.608932182, -0.000359050278, -0.000363679411, -0.793222123)
+            double3 xformOp:translate = (3.02525812125, 8.29448628288, 0.818917688526)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.231265114, -0.00017891138, -0.000478717594, -0.972890634)
+            double3 xformOp:translate = (3.19050133846, 8.38551387182, 0.744398155729)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.997989622, -0.00050208159, 9.53619065e-05, 0.0633754884)
+            double3 xformOp:translate = (3.6312070338, 8.64398963378, 0.793204545495)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.431732576, -0.000276080764, -0.000430068864, -0.902001508)
+            double3 xformOp:translate = (2.00763879738, 8.75709194428, 0.755823275057)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.953217802, -0.000502541807, -9.29061275e-05, -0.302283909)
+            double3 xformOp:translate = (3.74465377094, 8.82289665328, 0.787753841347)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.998320906, 0, 0, 0.0579255477)
+            double3 xformOp:translate = (4.82795182422, 8.0991655833, 0.98444850163)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.478514656, -0.000298289226, -0.00041497392, -0.878079417)
+            double3 xformOp:translate = (1.9781291592, 8.47001769278, 0.788492316812)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.881526383, -0.000417126118, 0.000295272108, 0.472134489)
+            double3 xformOp:translate = (1.70261569306, 8.39504980884, 0.805271937845)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0194/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0194/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd025b379ebca8e5a56db41be76c81408bc2d8a
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0194/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 5171148849035993698,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "book": 1,
+    "drinkware": 7,
+    "electronics": 7,
+    "office_supply": 4,
+    "small object": 5,
+    "drinkware/container": 1,
+    "timepiece": 1,
+    "writing_instrument": 1,
+    "clock": 1,
+    "small prop": 1,
+    "paper goods": 1
+  },
+  "failed_sampling_attempt_count": 110,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.4778952527326323,
+        8.582556914422941,
+        0.7406083259012436
+      ],
+      "rotation_wxyz": [
+        0.8955110253322643,
+        -0.0004259344651409574,
+        0.0002824175059117248,
+        0.4450390346121794
+      ],
+      "yaw_degrees_local": 52.79296944924246,
+      "yaw_radians": 0.9224356026011213,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4778952527326323,
+        8.582556914422941,
+        0.8906083318617081
+      ],
+      "z_min": 0.7406083259012436,
+      "z_max": 1.0406083378221727
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.6706293054942303,
+        8.39070768278887,
+        0.7407784859447446
+      ],
+      "rotation_wxyz": [
+        0.8397945714093441,
+        -0.0003914799598676458,
+        0.00032851675339674695,
+        0.542904058422462
+      ],
+      "yaw_degrees_local": 65.70439998455106,
+      "yaw_radians": 1.147782655972028,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6706293054942303,
+        8.39070768278887,
+        0.7907785798220601
+      ],
+      "z_min": 0.7407784859447446,
+      "z_max": 0.8407786736993756
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_003_gray_game_controller_39f2997b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1416757511508548,
+        0.0648584256448933,
+        0.023025508846900834
+      ],
+      "bbox_min_m": [
+        -0.07087806343345963,
+        -0.03240939789669541,
+        -0.01157872801945111
+      ],
+      "bbox_max_m": [
+        0.07079768771739513,
+        0.03244902774819789,
+        0.011446780827449704
+      ],
+      "translation_world": [
+        3.459503347622085,
+        8.850596407578328,
+        0.7519175359651762
+      ],
+      "rotation_wxyz": [
+        0.7023201565086834,
+        -0.00031106097402243247,
+        0.0004054884544355464,
+        0.7118610374095512
+      ],
+      "yaw_degrees_local": 90.71437851329193,
+      "yaw_radians": 1.5842893451382325,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.459503347622085,
+        8.850596407578328,
+        0.7634302903886266
+      ],
+      "z_min": 0.740338807945725,
+      "z_max": 0.7633643167926258
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.471597074046718,
+        8.281427932049839,
+        0.7464047052598874
+      ],
+      "rotation_wxyz": [
+        0.31676331328552604,
+        -0.00022072400477871868,
+        -0.00046093462655213567,
+        -0.9485044766244173
+      ],
+      "yaw_degrees_local": -143.1241128719776,
+      "yaw_radians": -2.496962579528505,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.471597074046718,
+        8.281427932049839,
+        0.7517401459548883
+      ],
+      "z_min": 0.7410412425130773,
+      "z_max": 0.751712123903079
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_clear_glass_tumbler_001_clear_glass_tumbler_d0e0aadb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12452764037711962,
+        0.1584675010760317,
+        0.16882024418940705
+      ],
+      "bbox_min_m": [
+        -0.06224034114919968,
+        -0.0793190825958059,
+        -0.08441011870177872
+      ],
+      "bbox_max_m": [
+        0.06228729922791995,
+        0.07914841848022576,
+        0.08441012548762826
+      ],
+      "translation_world": [
+        1.8224607472730054,
+        8.468657109048289,
+        0.8253437549497095
+      ],
+      "rotation_wxyz": [
+        0.952088005489156,
+        -0.00046344491823552833,
+        0.00021540339830647306,
+        0.30582375418509433
+      ],
+      "yaw_degrees_local": 35.556753962202265,
+      "yaw_radians": 0.6216068577185428,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8224607472730054,
+        8.468657109048289,
+        0.909753877044413
+      ],
+      "z_min": 0.7409336362479307,
+      "z_max": 0.9097538804373377
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        4.907447727044357,
+        8.768016810774583,
+        1.0204570343746104
+      ],
+      "rotation_wxyz": [
+        -0.007875577820712576,
+        0.0,
+        0.0,
+        0.9999689871560967
+      ],
+      "yaw_degrees_local": 90.90248407025916,
+      "yaw_radians": -3.125841335116971,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.907447727044357,
+        8.768016810774583,
+        1.1206739144372604
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.1206337890216318
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.180495147023493,
+        8.598868473489722,
+        0.7449497359289837
+      ],
+      "rotation_wxyz": [
+        0.1298720492697088,
+        -0.00012867419290369582,
+        -0.0004945935384948889,
+        -0.991530629702719
+      ],
+      "yaw_degrees_local": -165.13431126229904,
+      "yaw_radians": -2.881112931145079,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.180495147023493,
+        8.598868473489722,
+        0.7490863372891108
+      ],
+      "z_min": 0.7406294653765163,
+      "z_max": 0.7489026680967704
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        2.8153541948418064,
+        8.33144454315299,
+        0.7883700311880077
+      ],
+      "rotation_wxyz": [
+        0.9988430059351715,
+        -0.0005095755826161227,
+        3.889141089947333e-05,
+        -0.048087298890403515
+      ],
+      "yaw_degrees_local": -5.571235598689327,
+      "yaw_radians": -0.09621172913377272,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8153541948418064,
+        8.33144454315299,
+        0.8358225569269881
+      ],
+      "z_min": 0.7409469816145792,
+      "z_max": 0.8358520330925401
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_053_living_room_asset_000184_obj_001_black_tv_remote_control_610b2d00/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.20477976748938825,
+        0.053720265325168395,
+        0.02246599844782441
+      ],
+      "bbox_min_m": [
+        -0.10237995514509796,
+        -0.026902504227658768,
+        -0.011243093059949173
+      ],
+      "bbox_max_m": [
+        0.10239981234429028,
+        0.026817761097509617,
+        0.011222905387875225
+      ],
+      "translation_world": [
+        3.6727609905743344,
+        8.505945879640565,
+        0.7519044365034369
+      ],
+      "rotation_wxyz": [
+        0.23893902660507196,
+        -5.965423337803762e-05,
+        0.0005075639749631481,
+        0.9710344383106115
+      ],
+      "yaw_degrees_local": 152.29342725189093,
+      "yaw_radians": 2.659046596349659,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6727609905743344,
+        8.505945879640565,
+        0.763137435727349
+      ],
+      "z_min": 0.7406613434434877,
+      "z_max": 0.763127341891312
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_083_living_room_asset_000094_obj_001_remote_control_black_fd324e12/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05322036916783553,
+        0.19160004312640072,
+        0.021758840406272496
+      ],
+      "bbox_min_m": [
+        -0.026619774949175733,
+        -0.09588941867141569,
+        -0.011020046961004528
+      ],
+      "bbox_max_m": [
+        0.0266005942186598,
+        0.09571062445498509,
+        0.010738793445267918
+      ],
+      "translation_world": [
+        1.7540569966660056,
+        8.725711378221638,
+        0.7517015989936193
+      ],
+      "rotation_wxyz": [
+        0.997176447401755,
+        -0.0005104412333067216,
+        2.5091105607875703e-05,
+        -0.0750924201727383
+      ],
+      "yaw_degrees_local": -8.671776676452936,
+      "yaw_radians": -0.15032635128062433,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7540569966660056,
+        8.725711378221638,
+        0.7625810191967556
+      ],
+      "z_min": 0.7406815520326148,
+      "z_max": 0.7624403924388873
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_001_closed_blue_notebook_black_band_5c326eca/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09427505248374443,
+        0.1452992888587467,
+        0.016190850734868294
+      ],
+      "bbox_min_m": [
+        -0.04698685705986154,
+        -0.07273927073063784,
+        -0.00799423481775143
+      ],
+      "bbox_max_m": [
+        0.04728819542388291,
+        0.07256001812810889,
+        0.008196615917116833
+      ],
+      "translation_world": [
+        1.9115551357787819,
+        8.226528119244028,
+        0.749162117802777
+      ],
+      "rotation_wxyz": [
+        0.9999960595165885,
+        -0.0005069390855378832,
+        6.475013354679136e-05,
+        0.0027603933558933203
+      ],
+      "yaw_degrees_local": 0.25760780193425603,
+      "yaw_radians": 0.005520727400594101,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9115551357787819,
+        8.226528119244028,
+        0.7572575431702111
+      ],
+      "z_min": 0.7411678829850256,
+      "z_max": 0.7573587337198938
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        1.8975057735271905,
+        8.61390276464332,
+        0.8409963099638693
+      ],
+      "rotation_wxyz": [
+        0.8158131259904408,
+        -0.0004503484474245604,
+        -0.00024159075342943196,
+        -0.5783153830583182
+      ],
+      "yaw_degrees_local": -70.72300639228511,
+      "yaw_radians": -1.2333244199849567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8975057735271905,
+        8.61390276464332,
+        0.9410850110558824
+      ],
+      "z_min": 0.740776823399674,
+      "z_max": 0.9409542255837
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d",
+      "asset_source": "sceneforge_base",
+      "category": "timepiece",
+      "asset_usd": "assets/small_022_bedroom_asset_000066_obj_001_black_round_digital_alarm_clock_4696927d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15939412317111412,
+        0.057831525331592894,
+        0.15742132564924385
+      ],
+      "bbox_min_m": [
+        -0.0797089057155871,
+        -0.02894255776678295,
+        -0.07870957006262512
+      ],
+      "bbox_max_m": [
+        0.07968521745552704,
+        0.02888896756480993,
+        0.07871175558661876
+      ],
+      "translation_world": [
+        3.3855435823900675,
+        8.378371437238368,
+        0.8195367296198106
+      ],
+      "rotation_wxyz": [
+        0.05913709563937132,
+        3.3250298914059705e-05,
+        0.0005099747384551889,
+        0.9982497396641403
+      ],
+      "yaw_degrees_local": 173.16072062280824,
+      "yaw_radians": 3.02324939701472,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3855435823900675,
+        8.378371437238368,
+        0.8982473924444325
+      ],
+      "z_min": 0.7408271595571855,
+      "z_max": 0.8982484852064294
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        1.8797267860565894,
+        8.786151411605855,
+        0.746254762767754
+      ],
+      "rotation_wxyz": [
+        0.6341132159319541,
+        -0.0003705541071351075,
+        -0.00035195094818115763,
+        -0.7732400456524604
+      ],
+      "yaw_degrees_local": -101.3502094696287,
+      "yaw_radians": -1.7678702006002978,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8797267860565894,
+        8.786151411605855,
+        0.7519036139810361
+      ],
+      "z_min": 0.7406043264979671,
+      "z_max": 0.7519020289245314
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.6902611952464763,
+        8.194599414248582,
+        0.7444843275144568
+      ],
+      "rotation_wxyz": [
+        0.02452728491175377,
+        -7.576965460800756e-05,
+        -0.0005054095128516041,
+        -0.9996990302661304
+      ],
+      "yaw_degrees_local": -177.24780835336097,
+      "yaw_radians": -3.0925332463310653,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6902611952464763,
+        8.194599414248582,
+        0.7480646069957819
+      ],
+      "z_min": 0.7409748997117046,
+      "z_max": 0.7481354586743547
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        2.9231095705939873,
+        8.303347115746782,
+        0.7803077859415081
+      ],
+      "rotation_wxyz": [
+        0.08328338985973775,
+        -0.00010536478536602731,
+        -0.0005000780721498231,
+        -0.9965257727694027
+      ],
+      "yaw_degrees_local": -170.5040685386751,
+      "yaw_radians": -2.974832837511179,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.9231095705939873,
+        8.303347115746782,
+        0.8196566452673839
+      ],
+      "z_min": 0.7409618219835717,
+      "z_max": 0.8196595406353234
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        2.5844473659460583,
+        8.225935314442776,
+        0.7441226489558941
+      ],
+      "rotation_wxyz": [
+        0.7788390410693455,
+        -0.0004346966632742869,
+        -0.00026873523620566373,
+        -0.6272236339029058
+      ],
+      "yaw_degrees_local": -77.74988851832786,
+      "yaw_radians": -1.3559666937160781,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5844473659460583,
+        8.225935314442776,
+        0.7472346521997697
+      ],
+      "z_min": 0.7410832254390535,
+      "z_max": 0.7473072319268046
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        2.0683293099663373,
+        8.867956201561649,
+        0.7458609238935444
+      ],
+      "rotation_wxyz": [
+        0.12640123538820364,
+        -1.2576702488343439e-06,
+        0.0005110559993834901,
+        0.9919790655616276
+      ],
+      "yaw_degrees_local": 165.41792256269775,
+      "yaw_radians": 2.888112147390408,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0683293099663373,
+        8.867956201561649,
+        0.7511963645885452
+      ],
+      "z_min": 0.7404974611467343,
+      "z_max": 0.7511683425367359
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000004_obj_001_white_ceramic_mug_838169f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07204550459945464,
+        0.10407594549192298,
+        0.09316320653183605
+      ],
+      "bbox_min_m": [
+        -0.03599530327497408,
+        -0.05200715216493906,
+        -0.04659023386470006
+      ],
+      "bbox_max_m": [
+        0.03605020132448054,
+        0.052068793326983887,
+        0.046572972667135934
+      ],
+      "translation_world": [
+        1.7713499124501002,
+        8.299409852814936,
+        0.7877019821702814
+      ],
+      "rotation_wxyz": [
+        0.09485862223697941,
+        -0.00011116919310507248,
+        -0.0004988198339527807,
+        -0.9954906230635656
+      ],
+      "yaw_degrees_local": -169.1723435607702,
+      "yaw_radians": -2.9515898618987313,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7713499124501002,
+        8.299409852814936,
+        0.8342835854361994
+      ],
+      "z_min": 0.7411117483055814,
+      "z_max": 0.8342749548374173
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.109317794082284,
+        8.360207881024614,
+        0.7883303193773286
+      ],
+      "rotation_wxyz": [
+        0.7191892260763564,
+        -0.00032069548283586,
+        0.0003979123314613248,
+        0.6948140729115061
+      ],
+      "yaw_degrees_local": 87.96611018951347,
+      "yaw_radians": 1.5363229897597495,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.109317794082284,
+        8.360207881024614,
+        0.8356964460385835
+      ],
+      "z_min": 0.7410072644625788,
+      "z_max": 0.8357395177850888
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_052_bedroom_asset_000152_obj_002_digital_alarm_clock_black_red_display_8d7a55d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14806518257900847,
+        0.08087928833445229,
+        0.07022614868637073
+      ],
+      "bbox_min_m": [
+        -0.07399547776177619,
+        -0.04050727921703523,
+        -0.03496610298693092
+      ],
+      "bbox_max_m": [
+        0.07406970481723228,
+        0.04037200911741705,
+        0.03526004569943982
+      ],
+      "translation_world": [
+        3.609351796776242,
+        8.834515316768824,
+        0.7753022471426289
+      ],
+      "rotation_wxyz": [
+        0.652687601410637,
+        -0.0002829922163332308,
+        0.00042555284247096565,
+        0.7576269753546355
+      ],
+      "yaw_degrees_local": 98.45219002645052,
+      "yaw_radians": 1.7193396974265485,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.609351796776242,
+        8.834515316768824,
+        0.8104153214858142
+      ],
+      "z_min": 0.7403361441556979,
+      "z_max": 0.8105622928420687
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_033_living_room_asset_000110_obj_003_black_tv_remote_control_ae9e6916/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.03388737905013017,
+        0.1280267091104877,
+        0.013225608566975607
+      ],
+      "bbox_min_m": [
+        -0.01692621040075199,
+        -0.06405168788774579,
+        -0.006658423266156312
+      ],
+      "bbox_max_m": [
+        0.01696116864937818,
+        0.0639750212227419,
+        0.006567185300819253
+      ],
+      "translation_world": [
+        2.700165741928709,
+        8.313944272321383,
+        0.7476377274307625
+      ],
+      "rotation_wxyz": [
+        0.9130736766313147,
+        -0.00043720023935511434,
+        0.0002646427156529032,
+        0.40779431072926636
+      ],
+      "yaw_degrees_local": 48.07400018695745,
+      "yaw_radians": 0.8400740333590414,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.700165741928709,
+        8.313944272321383,
+        0.7542505317142503
+      ],
+      "z_min": 0.7409793041646062,
+      "z_max": 0.7542049127315817
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        3.0252581212456406,
+        8.294486282877159,
+        0.8189176885256504
+      ],
+      "rotation_wxyz": [
+        0.6089321817035025,
+        -0.00035905027836625146,
+        -0.00036367941080769195,
+        -0.7932221233084695
+      ],
+      "yaw_degrees_local": -105.03403346066173,
+      "yaw_radians": -1.8321650911331913,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0252581212456406,
+        8.294486282877159,
+        0.8969112129961486
+      ],
+      "z_min": 0.7409578867598906,
+      "z_max": 0.8969449357008871
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_obj_002_smartphone_black_silver_d3c2a3d4/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15167105930743283,
+        0.07984849583832944,
+        0.007150121152439692
+      ],
+      "bbox_min_m": [
+        -0.0758158716519964,
+        -0.039909867100387054,
+        -0.003553567446703576
+      ],
+      "bbox_max_m": [
+        0.07585518765543645,
+        0.039938628737942385,
+        0.0035965537057360943
+      ],
+      "translation_world": [
+        3.1905013384555643,
+        8.385513871823145,
+        0.7443981557292609
+      ],
+      "rotation_wxyz": [
+        0.2312651135134007,
+        -0.00017891137978402584,
+        -0.00047871759360199897,
+        -0.9728906341885597
+      ],
+      "yaw_degrees_local": -153.3155754479925,
+      "yaw_radians": -2.6748371377297855,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1905013384555643,
+        8.385513871823145,
+        0.7479732163054807
+      ],
+      "z_min": 0.7408445882825574,
+      "z_max": 0.747994709434997
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.631207033800684,
+        8.643989633779487,
+        0.793204545495272
+      ],
+      "rotation_wxyz": [
+        0.9979896223373388,
+        -0.0005020815900052966,
+        9.536190653539753e-05,
+        0.06337548837807715
+      ],
+      "yaw_degrees_local": 7.20845680050607,
+      "yaw_radians": 0.12683586955072682,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.631207033800684,
+        8.643989633779487,
+        0.8457535743544901
+      ],
+      "z_min": 0.7405266216029294,
+      "z_max": 0.8456246793213656
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        2.0076387973830276,
+        8.757091944281367,
+        0.7558232750565734
+      ],
+      "rotation_wxyz": [
+        0.43173257640085216,
+        -0.0002760807642675626,
+        -0.0004300688640691757,
+        -0.9020015084768243
+      ],
+      "yaw_degrees_local": -128.90357498157397,
+      "yaw_radians": -2.2487673445322285,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0076387973830276,
+        8.757091944281367,
+        0.7709917520091049
+      ],
+      "z_min": 0.7406175979409101,
+      "z_max": 0.770954551845973
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_cylindrical_cup_001_black_cylindrical_cup_ea7524e7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0628039507955018,
+        0.09022729806432649,
+        0.09490505147796083
+      ],
+      "bbox_min_m": [
+        -0.03138515067558622,
+        -0.04506385006708017,
+        -0.04742304957342854
+      ],
+      "bbox_max_m": [
+        0.03141880011991559,
+        0.045163447997246316,
+        0.047482001904532285
+      ],
+      "translation_world": [
+        3.7446537709407197,
+        8.822896653278882,
+        0.7877538413467843
+      ],
+      "rotation_wxyz": [
+        0.9532178015870929,
+        -0.0005025418069234053,
+        -9.290612753996087e-05,
+        -0.30228390886326345
+      ],
+      "yaw_degrees_local": -35.24837866247657,
+      "yaw_radians": -0.6141753566495773,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7446537709407197,
+        8.822896653278882,
+        0.8352063670857647
+      ],
+      "z_min": 0.7403307917733557,
+      "z_max": 0.8352358432513166
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        4.827951824216438,
+        8.09916558330125,
+        0.9844485016295983
+      ],
+      "rotation_wxyz": [
+        0.9983209057805248,
+        0.0,
+        0.0,
+        0.05792554774495173
+      ],
+      "yaw_degrees_local": -83.35850352741082,
+      "yaw_radians": 0.11591598070627078,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.827951824216438,
+        8.09916558330125,
+        1.0486374557173188
+      ],
+      "z_min": 0.9202000288963319,
+      "z_max": 1.0485779370717727
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.9781291591954249,
+        8.470017692778027,
+        0.7884923168115475
+      ],
+      "rotation_wxyz": [
+        0.47851465626547374,
+        -0.00029828922593240644,
+        -0.00041497391958165086,
+        -0.8780794170001479
+      ],
+      "yaw_degrees_local": -122.88182879384365,
+      "yaw_radians": -2.1436680173344715,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9781291591954249,
+        8.470017692778027,
+        0.835891242239648
+      ],
+      "z_min": 0.7409125136992478,
+      "z_max": 0.8357103645554488
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        1.7026156930586132,
+        8.395049808843547,
+        0.8052719378445645
+      ],
+      "rotation_wxyz": [
+        0.8815263827425848,
+        -0.00041712611799894837,
+        0.0002952721082720818,
+        0.47213448862475405
+      ],
+      "yaw_degrees_local": 56.28717809065478,
+      "yaw_radians": 0.9834210656888932,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7026156930586132,
+        8.395049808843547,
+        0.869460891932285
+      ],
+      "z_min": 0.7410234651112981,
+      "z_max": 0.869401373286739
+    }
+  ],
+  "variant_index": 194
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0196/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0196/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..1488b6aea68112990df923a52adb04c2e2f7f17b
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0196/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1873078635593325804
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.210799566, -0.000168826828, -0.000482366374, -0.977529172)
+            double3 xformOp:translate = (3.60546307993, 8.70190424664, 0.74047111701)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.892142169, -0.00048103842, -0.000172574202, -0.451754457)
+            double3 xformOp:translate = (3.62563335932, 8.38621246972, 0.740788746171)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.813134029, -0.000375478392, 0.000346692649, 0.582076274)
+            double3 xformOp:translate = (1.92688917708, 8.21789557677, 0.771766708085)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.639647811, -0.000373071144, -0.000349281745, -0.768667949)
+            double3 xformOp:translate = (1.95630068294, 8.81810576449, 0.755767897473)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.422592065, -0.000156887323, 0.000486380699, 0.906319858)
+            double3 xformOp:translate = (1.79705319101, 8.63919555602, 0.746704101506)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.333459964, -0.000109378249, 0.0004992156, 0.942764123)
+            double3 xformOp:translate = (3.51127969881, 8.25767655272, 0.745303261799)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.770410625, -0.000350298521, 0.000372116598, 0.637547808)
+            double3 xformOp:translate = (1.78826624606, 8.86126280789, 0.740539731304)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.153489594, -1.52371743e-05, 0.000510830348, 0.988150132)
+            double3 xformOp:translate = (1.77877897551, 8.7571333898, 0.74865931857)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.670604068, -0.000387068425, -0.000333703237, -0.741815289)
+            double3 xformOp:translate = (2.16217081011, 8.2343519117, 0.746381340793)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.798226314, -0.000366633629, 0.000356033142, 0.602357445)
+            double3 xformOp:translate = (3.33037204765, 8.29826576294, 0.744424784126)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.993526175, -0.000511029743, 5.33089378e-06, -0.113602281)
+            double3 xformOp:translate = (1.8808308332, 8.3404633631, 0.74847420239)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.943857335, -0.000499573154, -0.000107733376, -0.330352948)
+            double3 xformOp:translate = (2.33690793643, 8.30761194021, 0.74844973588)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994442235, -0.000497627829, 0.000116388831, 0.105282379)
+            double3 xformOp:translate = (2.42747729185, 8.86411668332, 0.749489762355)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware/container"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.987999277, -0.000491245221, 0.000140918234, 0.154457658)
+            double3 xformOp:translate = (2.55508030425, 8.89317808664, 0.84066726345)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.83039465, -0.000456403744, -0.0002299466, -0.557175433)
+            double3 xformOp:translate = (3.18069087393, 8.32416202379, 0.750457588674)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.764928677, -0.000347102516, 0.000375099533, 0.644114786)
+            double3 xformOp:translate = (2.69013557519, 8.27365302258, 0.746671875423)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.716798401, 0, 0, 0.697280469)
+            double3 xformOp:translate = (4.99497852775, 8.28007063555, 1.00211090552)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.75001963, 0, 0, 0.661415569)
+            double3 xformOp:translate = (4.96074814836, 8.43263767573, 0.959071178864)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.864638598, -0.00040664509, 0.000309547391, 0.502394103)
+            double3 xformOp:translate = (3.56220989765, 8.8671251955, 0.792986976243)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.832581833, 0, 0, -0.553902059)
+            double3 xformOp:translate = (4.91139966856, 8.10565951167, 0.95426967171)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999975513, -0.000507545692, 5.98095889e-05, -0.00697947558)
+            double3 xformOp:translate = (3.45201333639, 8.81992807133, 0.817738413485)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984887551, -0.000488480242, 0.000150222733, 0.173194257)
+            double3 xformOp:translate = (2.06124937862, 8.30416017567, 0.775676982979)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.92517405, -0.000493214764, -0.000133861916, -0.379542771)
+            double3 xformOp:translate = (1.92686859493, 8.65148502189, 0.787311857274)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.505396246, -0.000310958876, -0.000405566756, -0.862887231)
+            double3 xformOp:translate = (3.21375009665, 8.57315364575, 0.754982196036)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.784713786, -0.000437209227, -0.000264627867, -0.619858059)
+            double3 xformOp:translate = (1.96172105292, 8.42287360162, 0.788542210791)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.215757937, -4.75558605e-05, 0.000508840109, 0.976446748)
+            double3 xformOp:translate = (3.3883356696, 8.4882867798, 0.746012608931)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.97657105, -0.000508867458, -4.72623169e-05, -0.215194617)
+            double3 xformOp:translate = (1.72967330819, 8.24187407287, 0.809228729751)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999120215, -0.000509326401, 4.2028958e-05, -0.041934888)
+            double3 xformOp:translate = (2.79211217849, 8.24358213833, 0.775645822038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.506051271, -0.000311266724, -0.000405330535, -0.862503246)
+            double3 xformOp:translate = (2.57755080403, 8.28934612865, 0.777675354237)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.806683145, -0.00044652105, -0.00024859358, -0.590983961)
+            double3 xformOp:translate = (3.17978939001, 8.43868868417, 0.805040518331)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0196/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0196/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef297f991a5578b1cfc277cefe1be33e1e91498f
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0196/placement.json
@@ -0,0 +1,1543 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1873078635593325804,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 3,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 3,
+    "sceneforge_base": 27
+  },
+  "category_counts": {
+    "drinkware": 7,
+    "electronics": 7,
+    "small object": 4,
+    "office_supply": 3,
+    "writing_instrument": 2,
+    "book": 2,
+    "drinkware/container": 1,
+    "clock": 1,
+    "paper_goods": 1,
+    "paper goods": 1,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 141,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        3.6054630799327785,
+        8.701904246635085,
+        0.7404711170099947
+      ],
+      "rotation_wxyz": [
+        0.2107995659080789,
+        -0.000168826827923333,
+        -0.00048236637363487306,
+        -0.9775291718578782
+      ],
+      "yaw_degrees_local": -155.72028128221854,
+      "yaw_radians": -2.71680716292851,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6054630799327785,
+        8.701904246635085,
+        0.7904712108873102
+      ],
+      "z_min": 0.7404711170099947,
+      "z_max": 0.8404713047646257
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.6256333593209007,
+        8.386212469724141,
+        0.7407887461712733
+      ],
+      "rotation_wxyz": [
+        0.8921421688454074,
+        -0.00048103841950642264,
+        -0.00017257420200909393,
+        -0.4517544569652817
+      ],
+      "yaw_degrees_local": -53.771325842492175,
+      "yaw_radians": -0.9374617282160764,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6256333593209007,
+        8.386212469724141,
+        0.9182887408068553
+      ],
+      "z_min": 0.7407887461712733,
+      "z_max": 1.0957887354424374
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        1.9268891770804255,
+        8.21789557676723,
+        0.771766708084707
+      ],
+      "rotation_wxyz": [
+        0.813134029346994,
+        -0.00037547839241161747,
+        0.00034669264929083806,
+        0.5820762743301826
+      ],
+      "yaw_degrees_local": 71.1347195124695,
+      "yaw_radians": 1.2425596544876651,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9268891770804255,
+        8.21789557676723,
+        0.8023691095900998
+      ],
+      "z_min": 0.7411747073513315,
+      "z_max": 0.8023795103621171
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_rectangular_desktop_box_001_black_rectangular_desktop_box_a613fc5f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15204295584963434,
+        0.10322103420401942,
+        0.030336953905062927
+      ],
+      "bbox_min_m": [
+        -0.07607959864975805,
+        -0.05162199476262943,
+        -0.01520567711566339
+      ],
+      "bbox_max_m": [
+        0.07596335719987632,
+        0.051599039441389986,
+        0.015131276789399496
+      ],
+      "translation_world": [
+        1.9563006829390521,
+        8.818105764485358,
+        0.7557678974734781
+      ],
+      "rotation_wxyz": [
+        0.6396478114957483,
+        -0.0003730711440584927,
+        -0.00034928174545945,
+        -0.7686679491619796
+      ],
+      "yaw_degrees_local": -100.52757256443353,
+      "yaw_radians": -1.7535124706210699,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9563006829390521,
+        8.818105764485358,
+        0.7709363744260095
+      ],
+      "z_min": 0.7405622203578147,
+      "z_max": 0.7708991742628776
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        1.7970531910143916,
+        8.639195556017883,
+        0.7467041015061773
+      ],
+      "rotation_wxyz": [
+        0.4225920650780611,
+        -0.00015688732343298442,
+        0.00048638069861616293,
+        0.9063198581920423
+      ],
+      "yaw_degrees_local": 129.94459482916295,
+      "yaw_radians": 2.2689859755226416,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7970531910143916,
+        8.639195556017883,
+        0.7525213142727496
+      ],
+      "z_min": 0.7407638488438676,
+      "z_max": 0.7523982743770122
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_092_bedroom_asset_000044_obj_002_smartphone_black_57c41b64/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.18253922586299975,
+        0.0948374575391272,
+        0.008848058937107415
+      ],
+      "bbox_min_m": [
+        -0.09123745092363343,
+        -0.04740113667574088,
+        -0.004369659344852287
+      ],
+      "bbox_max_m": [
+        0.09130177493936631,
+        0.04743632086338631,
+        0.0044783995922550906
+      ],
+      "translation_world": [
+        3.511279698813743,
+        8.257676552724508,
+        0.74530326179854
+      ],
+      "rotation_wxyz": [
+        0.33345996403632044,
+        -0.00010937824880639572,
+        0.000499215599644441,
+        0.942764122782088
+      ],
+      "yaw_degrees_local": 140.98345161536162,
+      "yaw_radians": 2.461650345727846,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.511279698813743,
+        8.257676552724508,
+        0.7497272912670937
+      ],
+      "z_min": 0.7409336024536877,
+      "z_max": 0.749781661390795
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_000bbe302b53fd2904e7ae92e1516a18f29de02d_0edc177b403f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06005765497684479,
+        0.060357242822647116,
+        0.10000018775463106
+      ],
+      "bbox_min_m": [
+        -0.030057590454816818,
+        -0.030003966763615608,
+        -1.244250991743644e-17
+      ],
+      "bbox_max_m": [
+        0.03000006452202797,
+        0.030353276059031507,
+        0.10000018775463104
+      ],
+      "translation_world": [
+        1.7882662460565801,
+        8.861262807887341,
+        0.7405397313043014
+      ],
+      "rotation_wxyz": [
+        0.7704106250858547,
+        -0.0003502985205857084,
+        0.0003721165982804001,
+        0.6375478080701138
+      ],
+      "yaw_degrees_local": 79.15971758281097,
+      "yaw_radians": 1.3826223636050885,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7882662460565801,
+        8.861262807887341,
+        0.7905398251816169
+      ],
+      "z_min": 0.7405397313043014,
+      "z_max": 0.8405399190589324
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        1.7787789755083132,
+        8.757133389797959,
+        0.7486593185696596
+      ],
+      "rotation_wxyz": [
+        0.15348959422272826,
+        -1.5237174267704356e-05,
+        0.0005108303483160022,
+        0.9881501319564382
+      ],
+      "yaw_degrees_local": 162.2828709134099,
+      "yaw_radians": 2.8333952010688996,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7787789755083132,
+        8.757133389797959,
+        0.7564886577544776
+      ],
+      "z_min": 0.7406465489440969,
+      "z_max": 0.7563052273137328
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.162170810109369,
+        8.234351911699711,
+        0.7463813407934834
+      ],
+      "rotation_wxyz": [
+        0.6706040676174658,
+        -0.00038706842487692294,
+        -0.00033370323747846753,
+        -0.7418152892163206
+      ],
+      "yaw_degrees_local": -95.83128856471623,
+      "yaw_radians": -1.6715468094757022,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.162170810109369,
+        8.234351911699711,
+        0.7516172561116169
+      ],
+      "z_min": 0.7411281931244023,
+      "z_max": 0.7516000237606693
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_002_black_smartphone_ef32ff98/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14209015389167556,
+        0.07730113270064731,
+        0.007160558962650191
+      ],
+      "bbox_min_m": [
+        -0.07105184623833888,
+        -0.038551483077785616,
+        -0.003509427802752224
+      ],
+      "bbox_max_m": [
+        0.0710383076533367,
+        0.038749649622861704,
+        0.0036511311598979523
+      ],
+      "translation_world": [
+        3.330372047646957,
+        8.298265762939591,
+        0.7444247841261298
+      ],
+      "rotation_wxyz": [
+        0.7982263136928125,
+        -0.00036663362877572197,
+        0.0003560331424053928,
+        0.602357444503318
+      ],
+      "yaw_degrees_local": 74.01914968722431,
+      "yaw_radians": 1.2929024827043676,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.330372047646957,
+        8.298265762939591,
+        0.7480050636074549
+      ],
+      "z_min": 0.7409153563233776,
+      "z_max": 0.7480759152860277
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        1.8808308331992847,
+        8.340463363095497,
+        0.7484742023900363
+      ],
+      "rotation_wxyz": [
+        0.9935261750383308,
+        -0.0005110297425902099,
+        5.330893780261036e-06,
+        -0.11360228137624769
+      ],
+      "yaw_degrees_local": -13.104738823591049,
+      "yaw_radians": -0.2276960963278019,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8808308331992847,
+        8.340463363095497,
+        0.7560141050331357
+      ],
+      "z_min": 0.7410562186971245,
+      "z_max": 0.7561360239833234
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_013_living_room_asset_000028_obj_002_black_remote_control_8aa01f61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14543033456975957,
+        0.03150477171274002,
+        0.01507980528619885
+      ],
+      "bbox_min_m": [
+        -0.0726211434570606,
+        -0.01576187655527649,
+        -0.00741798369291175
+      ],
+      "bbox_max_m": [
+        0.07280919111269898,
+        0.015742895157463528,
+        0.007661821593287092
+      ],
+      "translation_world": [
+        2.3369079364298604,
+        8.307611940208671,
+        0.7484497358802251
+      ],
+      "rotation_wxyz": [
+        0.9438573346916598,
+        -0.0004995731537226291,
+        -0.00010773337607231553,
+        -0.33035294847925933
+      ],
+      "yaw_degrees_local": -38.639114497926585,
+      "yaw_radians": -0.6733548453765028,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3369079364298604,
+        8.307611940208671,
+        0.7559896385233246
+      ],
+      "z_min": 0.7410317521873133,
+      "z_max": 0.7561115574735122
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_042_bedroom_asset_000157_obj_001_closed_book_purple_hardcover_87f06564/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08868212935130414,
+        0.12845637066214968,
+        0.01766649220696453
+      ],
+      "bbox_min_m": [
+        -0.0444012267484872,
+        -0.06422236052860851,
+        -0.009033909579799337
+      ],
+      "bbox_max_m": [
+        0.04428090260281693,
+        0.06423401013354117,
+        0.008632582627165167
+      ],
+      "translation_world": [
+        2.4274772918479406,
+        8.86411668332018,
+        0.7494897623550744
+      ],
+      "rotation_wxyz": [
+        0.9944422353311893,
+        -0.000497627829122818,
+        0.00011638883074773168,
+        0.10528237938844123
+      ],
+      "yaw_degrees_local": 12.028162931584774,
+      "yaw_radians": 0.21095557395861397,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4274772918479406,
+        8.86411668332018,
+        0.7583230084585566
+      ],
+      "z_min": 0.740455852775275,
+      "z_max": 0.7581223449822395
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware/container",
+      "asset_usd": "assets/small_089_conference_room_asset_000057_obj_001_clear_cylindrical_bottle_767ebb99/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06269814015646447,
+        0.0619192867317735,
+        0.2004337601253
+      ],
+      "bbox_min_m": [
+        -0.03133098648866249,
+        -0.030958954495969283,
+        -0.10025700547827855
+      ],
+      "bbox_max_m": [
+        0.031367153667801975,
+        0.030960332235804168,
+        0.10017675464702144
+      ],
+      "translation_world": [
+        2.5550803042496497,
+        8.893178086635412,
+        0.8406672634498396
+      ],
+      "rotation_wxyz": [
+        0.9879992767308663,
+        -0.0004912452214000762,
+        0.0001409182340646616,
+        0.15445765762651342
+      ],
+      "yaw_degrees_local": 17.71197899572374,
+      "yaw_radians": 0.3101568412034939,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5550803042496497,
+        8.893178086635412,
+        0.9408841435124895
+      ],
+      "z_min": 0.740410257971561,
+      "z_max": 0.940844018096861
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_082_bedroom_asset_000081_obj_003_silver_remote_control_5c2721f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.05665043313825565,
+        0.18755459232405264,
+        0.019007665844408862
+      ],
+      "bbox_min_m": [
+        -0.028356436728074363,
+        -0.09379547274659891,
+        -0.009549529243999043
+      ],
+      "bbox_max_m": [
+        0.028293996410181287,
+        0.09375911957745377,
+        0.009458136600409782
+      ],
+      "translation_world": [
+        3.1806908739300477,
+        8.324162023789501,
+        0.7504575886738709
+      ],
+      "rotation_wxyz": [
+        0.8303946503118084,
+        -0.0004564037437686267,
+        -0.00022994660013641086,
+        -0.5571754333723925
+      ],
+      "yaw_degrees_local": -67.78008912479682,
+      "yaw_radians": -1.181960809000839,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1806908739300477,
+        8.324162023789501,
+        0.7599614215960754
+      ],
+      "z_min": 0.7409080594298719,
+      "z_max": 0.7599157252742806
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        2.690135575188448,
+        8.273653022583984,
+        0.7466718754231754
+      ],
+      "rotation_wxyz": [
+        0.7649286768576865,
+        -0.00034710251551648417,
+        0.00037509953340738965,
+        0.6441147864635098
+      ],
+      "yaw_degrees_local": 80.13997738893198,
+      "yaw_radians": 1.3997311336286753,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.690135575188448,
+        8.273653022583984,
+        0.7523207266364574
+      ],
+      "z_min": 0.7410214391533885,
+      "z_max": 0.7523191415799527
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_092_bedroom_asset_000045_alarm_clock_001_alarm_clock_c38c0ad7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.12012808254357224,
+        0.06567918988541294,
+        0.1638720180816377
+      ],
+      "bbox_min_m": [
+        -0.06005442707977873,
+        -0.03311744772304165,
+        -0.0819108766285272
+      ],
+      "bbox_max_m": [
+        0.06007365546379351,
+        0.03256174216237123,
+        0.08196114145311045
+      ],
+      "translation_world": [
+        4.9949785277502174,
+        8.280070635546286,
+        1.002110905524859
+      ],
+      "rotation_wxyz": [
+        0.7167984006485104,
+        0.0,
+        0.0,
+        0.6972804692716825
+      ],
+      "yaw_degrees_local": -1.5815582974065876,
+      "yaw_radians": 1.5431929271929161,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9949785277502174,
+        8.280070635546286,
+        1.0840469145656777
+      ],
+      "z_min": 0.9202000288963317,
+      "z_max": 1.0840720469779694
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_082_bedroom_asset_000076_obj_003_black_digital_alarm_clock_27f3efe7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15763866664581555,
+        0.08183015864374685,
+        0.0778948630700134
+      ],
+      "bbox_min_m": [
+        -0.07880450123506111,
+        -0.0408382603605005,
+        -0.03887114996812097
+      ],
+      "bbox_max_m": [
+        0.07883416541075443,
+        0.04099189828324633,
+        0.03902371310189242
+      ],
+      "translation_world": [
+        4.960748148359554,
+        8.432637675725331,
+        0.9590711788644528
+      ],
+      "rotation_wxyz": [
+        0.7500196301156445,
+        0.0,
+        0.0,
+        0.6614155686413739
+      ],
+      "yaw_degrees_local": -7.184156680698521,
+      "yaw_radians": 1.4454091387375605,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.960748148359554,
+        8.432637675725331,
+        0.9980186103994595
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9980948919663453
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_035_restaurant_asset_000139_obj_002_clear_cylindrical_tumbler_glass_c4cf7925/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0676333742078455,
+        0.09520340442678263,
+        0.10509805771843626
+      ],
+      "bbox_min_m": [
+        -0.033821670600254816,
+        -0.047606044687838724,
+        -0.05267792389234256
+      ],
+      "bbox_max_m": [
+        0.03381170360759068,
+        0.04759735973894387,
+        0.05242013382609368
+      ],
+      "translation_world": [
+        3.5622098976480303,
+        8.867125195498831,
+        0.7929869762431153
+      ],
+      "rotation_wxyz": [
+        0.864638597547013,
+        -0.0004066450896565102,
+        0.0003095473910382082,
+        0.502394102724264
+      ],
+      "yaw_degrees_local": 60.2583370129328,
+      "yaw_radians": 1.0527308876903336,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5622098976480303,
+        8.867125195498831,
+        0.8455360051023334
+      ],
+      "z_min": 0.7403090523507727,
+      "z_max": 0.845407110069209
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        4.9113996685569035,
+        8.105659511671403,
+        0.9542696717099576
+      ],
+      "rotation_wxyz": [
+        0.8325818330756576,
+        0.0,
+        0.0,
+        -0.5539020592418644
+      ],
+      "yaw_degrees_local": -157.27024920664218,
+      "yaw_radians": -1.1740873372930092,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.9113996685569035,
+        8.105659511671403,
+        0.9882682278806364
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9881971412376894
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.4520133363871905,
+        8.819928071328077,
+        0.8177384134848013
+      ],
+      "rotation_wxyz": [
+        0.9999755125706153,
+        -0.0005075456918457781,
+        5.9809588939425456e-05,
+        -0.006979475576239252
+      ],
+      "yaw_degrees_local": -0.8585060046836475,
+      "yaw_radians": -0.013959123468929205,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4520133363871905,
+        8.819928071328077,
+        0.8951201686181407
+      ],
+      "z_min": 0.7403708961174179,
+      "z_max": 0.8951344063840968
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.0612493786177697,
+        8.304160175665329,
+        0.7756769829788344
+      ],
+      "rotation_wxyz": [
+        0.984887551067995,
+        -0.0004884802419240859,
+        0.00015022273293379795,
+        0.1731942567508283
+      ],
+      "yaw_degrees_local": 19.888476428102877,
+      "yaw_radians": 0.3481438753350199,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0612493786177697,
+        8.304160175665329,
+        0.8102767099616697
+      ],
+      "z_min": 0.741070193528451,
+      "z_max": 0.8102696474941216
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000041_obj_004_clear_empty_tumbler_glass_14f14434/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08110984920677022,
+        0.109140401571333,
+        0.09273433627176986
+      ],
+      "bbox_min_m": [
+        -0.04055124399274386,
+        -0.05456554408936651,
+        -0.04657689933235887
+      ],
+      "bbox_max_m": [
+        0.040558605214026336,
+        0.05457485748196646,
+        0.04615743693941095
+      ],
+      "translation_world": [
+        1.9268685949337154,
+        8.651485021886023,
+        0.7873118572743313
+      ],
+      "rotation_wxyz": [
+        0.9251740504631049,
+        -0.0004932147641873526,
+        -0.00013386191627168194,
+        -0.37954277119960567
+      ],
+      "yaw_degrees_local": -44.66944402549731,
+      "yaw_radians": -0.7786039309019689,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9268685949337154,
+        8.651485021886023,
+        0.8336790254102162
+      ],
+      "z_min": 0.7407349579419724,
+      "z_max": 0.8334692942137423
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.2137500966504753,
+        8.573153645746396,
+        0.7549821960364654
+      ],
+      "rotation_wxyz": [
+        0.5053962459150295,
+        -0.00031095887573070926,
+        -0.00040556675633563204,
+        -0.8628872310071456
+      ],
+      "yaw_degrees_local": -119.3433824905967,
+      "yaw_radians": -2.081910457309792,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.2137500966504753,
+        8.573153645746396,
+        0.7691176789425074
+      ],
+      "z_min": 0.7406513379720018,
+      "z_max": 0.7689223037840855
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233",
+      "asset_source": "sceneforge_base",
+      "category": "paper goods",
+      "asset_usd": "assets/small_050_retail_store_asset_000187_obj_004_white_paper_roll_cylinder_165d3233/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06784234568594136,
+        0.06789589640575724,
+        0.09479785085620093
+      ],
+      "bbox_min_m": [
+        -0.03391579793456346,
+        -0.03394319509012104,
+        -0.04757980311229971
+      ],
+      "bbox_max_m": [
+        0.0339265477513779,
+        0.033952701315636165,
+        0.047218047743901245
+      ],
+      "translation_world": [
+        1.961721052921848,
+        8.422873601621546,
+        0.7885422107912204
+      ],
+      "rotation_wxyz": [
+        0.784713785881003,
+        -0.00043720922692042964,
+        -0.00026462786727015887,
+        -0.6198580588074073
+      ],
+      "yaw_degrees_local": -76.67026207350374,
+      "yaw_radians": -1.3371236500159145,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.961721052921848,
+        8.422873601621546,
+        0.8359411362193209
+      ],
+      "z_min": 0.7409624076789207,
+      "z_max": 0.8357602585351217
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53",
+      "asset_source": "sceneforge_base",
+      "category": "book",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_obj_003_red_lab_notebook_closed_cce8ee53/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11970789900568307,
+        0.1434395885069908,
+        0.0106993117992998
+      ],
+      "bbox_min_m": [
+        -0.06000400478837177,
+        -0.07169795726822573,
+        -0.005297321159293278
+      ],
+      "bbox_max_m": [
+        0.0597038942173113,
+        0.07174163123876509,
+        0.005401990640006491
+      ],
+      "translation_world": [
+        3.388335669604152,
+        8.488286779804008,
+        0.7460126089310676
+      ],
+      "rotation_wxyz": [
+        0.2157579374962832,
+        -4.755586046133519e-05,
+        0.0005088401088515867,
+        0.9764467477684249
+      ],
+      "yaw_degrees_local": 155.02129103411755,
+      "yaw_radians": 2.706656781392802,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.388335669604152,
+        8.488286779804008,
+        0.7513622648307174
+      ],
+      "z_min": 0.7407152877717743,
+      "z_max": 0.751414599571074
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        1.7296733081887123,
+        8.241874072870337,
+        0.8092287297511798
+      ],
+      "rotation_wxyz": [
+        0.976571050042508,
+        -0.0005088674578368794,
+        -4.7262316859675904e-05,
+        -0.2151946166591005
+      ],
+      "yaw_degrees_local": -24.912604282917556,
+      "yaw_radians": -0.43378212831871044,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7296733081887123,
+        8.241874072870337,
+        0.8772840733047657
+      ],
+      "z_min": 0.7411753946288702,
+      "z_max": 0.877286081736042
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        2.7921121784915663,
+        8.243582138330646,
+        0.7756458220379269
+      ],
+      "rotation_wxyz": [
+        0.9991202149852149,
+        -0.0005093264011712365,
+        4.202895799647247e-05,
+        -0.04193488795838389
+      ],
+      "yaw_degrees_local": -4.8655047576966695,
+      "yaw_radians": -0.08389440874442589,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7921121784915663,
+        8.243582138330646,
+        0.8102455490207622
+      ],
+      "z_min": 0.7410390325875436,
+      "z_max": 0.8102384865532141
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        2.577550804033137,
+        8.289346128647725,
+        0.7776753542370163
+      ],
+      "rotation_wxyz": [
+        0.5060512709951925,
+        -0.00031126672376307615,
+        -0.0004053305353882353,
+        -0.8625032463384321
+      ],
+      "yaw_degrees_local": -119.25637570283865,
+      "yaw_radians": -2.080391901823549,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.577550804033137,
+        8.289346128647725,
+        0.814285567306195
+      ],
+      "z_min": 0.7410198035127316,
+      "z_max": 0.8142402296510889
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_075_restaurant_asset_000089_obj_002_clear_cylindrical_tumbler_glass_d3c72e1d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.060698261422015884,
+        0.061107341106424864,
+        0.12837790817544098
+      ],
+      "bbox_min_m": [
+        -0.030359620562507596,
+        -0.030523924137848674,
+        -0.06424847273326645
+      ],
+      "bbox_max_m": [
+        0.030338640859508288,
+        0.030583416968576166,
+        0.06412943544217452
+      ],
+      "translation_world": [
+        3.1797893900071075,
+        8.438688684172844,
+        0.8050405183305681
+      ],
+      "rotation_wxyz": [
+        0.8066831454989319,
+        -0.00044652104990658214,
+        -0.00024859358042925454,
+        -0.5909839605168089
+      ],
+      "yaw_degrees_local": -72.51244969205533,
+      "yaw_radians": -1.2645561075815597,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1797893900071075,
+        8.438688684172844,
+        0.8692294724182886
+      ],
+      "z_min": 0.7407920455973016,
+      "z_max": 0.8691699537727426
+    }
+  ],
+  "variant_index": 196
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0197/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0197/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..1015ad9c76d36c87c6f436432b340241aa593700
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0197/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1153137424102363312
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.591704308, -0.000351133048, -0.000371329232, -0.806154917)
+            double3 xformOp:translate = (1.85287621328, 8.52913776011, 0.740564700671)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.510669204, -0.00031343585, -0.000403655527, -0.859777124)
+            double3 xformOp:translate = (1.84429326184, 8.3032842417, 0.74109854944)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.906878718, -0.000486588044, -0.000156243054, -0.421391421)
+            double3 xformOp:translate = (3.16188038482, 8.4424936042, 0.746480225757)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0435044846, 4.12287388e-05, 0.000509391801, 0.999053101)
+            double3 xformOp:translate = (3.03610045255, 8.20242525611, 0.801724366053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.395859784, -0.000258922303, -0.000440612139, -0.918310825)
+            double3 xformOp:translate = (3.14973359016, 8.19638524702, 0.818409129864)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.316569522, -0.000100445083, 0.000501089415, 0.948569173)
+            double3 xformOp:translate = (2.2271647466, 8.21512148433, 0.78735148529)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.658903888, -0.000381794662, -0.000339724377, -0.752226964)
+            double3 xformOp:translate = (3.43098678089, 8.2509735848, 0.813722828555)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.130355325, -3.29527875e-06, 0.000511046923, 0.99146721)
+            double3 xformOp:translate = (3.62361209387, 8.29526827144, 0.75521210635)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.778357622, -0.000354944771, 0.000367687402, 0.627820955)
+            double3 xformOp:translate = (3.31715308419, 8.25743608479, 0.789824033159)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.108470274, 7.96974113e-06, 0.000510995401, 0.994099562)
+            double3 xformOp:translate = (2.03993956995, 8.88201107912, 0.794396862588)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small prop"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.96870216, -0.000506969538, -6.45112675e-05, -0.248225429)
+            double3 xformOp:translate = (2.50079074915, 8.84577973056, 0.818424999575)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.362991809, -0.000125049397, 0.000495522416, 0.93179219)
+            double3 xformOp:translate = (3.57141164951, 8.67235375865, 0.747486409666)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.874430015, -0.000474172019, -0.000190632403, -0.485151407)
+            double3 xformOp:translate = (2.83021088132, 8.20846938944, 0.882704737065)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.465929521, -0.00029233423, -0.000419190308, -0.884821688)
+            double3 xformOp:translate = (1.73925812713, 8.76917345898, 0.74865211448)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supplies"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.186914192, -0.00015702123, -0.000486337485, -0.982376111)
+            double3 xformOp:translate = (2.84934558691, 8.8876131215, 0.746068369728)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.994585776, -0.000510953555, 1.0309265e-05, -0.103917623)
+            double3 xformOp:translate = (3.39716403066, 8.71543495927, 0.779829769959)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.500498163, -0.000308655542, -0.000407322443, -0.865737447)
+            double3 xformOp:translate = (3.62476386017, 8.48844379426, 0.746048635587)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.984553099, -0.000488190824, 0.000151160629, 0.175085507)
+            double3 xformOp:translate = (3.73284252701, 8.54730792859, 0.744932047261)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.810114752, -0.000373681523, 0.00034862865, 0.586271121)
+            double3 xformOp:translate = (1.94568887612, 8.7907332228, 0.813363575871)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "book"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.969307409, -0.000475976437, 0.000186081294, 0.245851351)
+            double3 xformOp:translate = (3.4645592704, 8.45428601062, 0.740740112063)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.486872055, -0.000191565589, 0.00047379578, 0.873473148)
+            double3 xformOp:translate = (2.10047729124, 8.29176615966, 0.787289801236)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.86079293, -0.000468764411, -0.00020356754, -0.508955076)
+            double3 xformOp:translate = (2.7051604525, 8.85226973509, 0.870383911842)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.743531435, 0, 0, -0.668700984)
+            double3 xformOp:translate = (4.88277374901, 8.11670209364, 0.954806818347)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_1"
+            custom string sceneforge:support_mode = "shelf"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.65079695, 0, 0, 0.759251823)
+            double3 xformOp:translate = (4.94895735514, 8.32042919883, 0.925453176565)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.166756156, -2.21011962e-05, 0.000510579429, 0.985998034)
+            double3 xformOp:translate = (2.71919845071, 8.25234974356, 0.741039357379)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.877401644, -0.000475337195, -0.000187708197, -0.479756286)
+            double3 xformOp:translate = (3.15193540361, 8.3236343637, 0.774981893572)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small electronic device"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.894808346, -0.000482054452, -0.000169715414, -0.446450179)
+            double3 xformOp:translate = (3.49512545728, 8.79367249243, 0.777047592474)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.630956154, -0.000270819421, 0.000433401266, 0.775818323)
+            double3 xformOp:translate = (2.30153030676, 8.90715295437, 0.771020173623)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.644637085, -0.000375336518, -0.00034684624, -0.764488566)
+            double3 xformOp:translate = (1.71666003811, 8.32208597428, 0.797255603891)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.605478405, -0.000256629497, 0.000441951488, 0.795861571)
+            double3 xformOp:translate = (2.46690236136, 8.25961464976, 0.841283497184)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0197/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0197/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..e926a43164bbff452e344bc9ada63b2f2cd0df2c
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0197/placement.json
@@ -0,0 +1,1544 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1153137424102363312,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 4,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 4,
+    "sceneforge_base": 26
+  },
+  "category_counts": {
+    "book": 2,
+    "drinkware": 6,
+    "office_supplies": 2,
+    "small object": 7,
+    "paper_goods": 1,
+    "decorative_object": 2,
+    "small_electronics": 1,
+    "small prop": 1,
+    "office_supply": 4,
+    "electronics": 2,
+    "writing_instrument": 1,
+    "small electronic device": 1
+  },
+  "failed_sampling_attempt_count": 182,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_04f1fccc1f38469aff1a8c83a92eee520cce0228_6b5ca43bef18/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.2030734419822693,
+        0.19184406846761703,
+        0.017624134809011635
+      ],
+      "bbox_min_m": [
+        -0.10153672099113464,
+        -0.09592203795909882,
+        0.0003036962298210497
+      ],
+      "bbox_max_m": [
+        0.10153672099113464,
+        0.09592203050851822,
+        0.017927831038832685
+      ],
+      "translation_world": [
+        1.8528762132752088,
+        8.529137760107565,
+        0.7405647006709759
+      ],
+      "rotation_wxyz": [
+        0.5917043082388187,
+        -0.0003511330483606415,
+        -0.00037132923206943463,
+        -0.8061549171417397
+      ],
+      "yaw_degrees_local": -107.50261026483265,
+      "yaw_radians": -1.8752499055802834,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8528762132752088,
+        8.529137760107565,
+        0.7493767680754817
+      ],
+      "z_min": 0.740868396900797,
+      "z_max": 0.7584925317098086
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        1.8442932618398928,
+        8.30328424169848,
+        0.7410985494398071
+      ],
+      "rotation_wxyz": [
+        0.510669204117007,
+        -0.00031343584999561316,
+        -0.00040365552662863425,
+        -0.8597771239028673
+      ],
+      "yaw_degrees_local": -118.64187077446812,
+      "yaw_radians": -2.069666763492664,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8442932618398928,
+        8.30328424169848,
+        0.7635955611535902
+      ],
+      "z_min": 0.7410985524347417,
+      "z_max": 0.7860925758623077
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        3.1618803848232018,
+        8.442493604202157,
+        0.7464802257566202
+      ],
+      "rotation_wxyz": [
+        0.9068787177632966,
+        -0.0004865880437967036,
+        -0.00015624305384371462,
+        -0.4213914214696155
+      ],
+      "yaw_degrees_local": -49.90364727223465,
+      "yaw_radians": -0.8699580031767715,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1618803848232018,
+        8.442493604202157,
+        0.7523112767814064
+      ],
+      "z_min": 0.7407904250272955,
+      "z_max": 0.7524525270768679
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.0361004525471094,
+        8.202425256112967,
+        0.8017243660529223
+      ],
+      "rotation_wxyz": [
+        0.04350448455235615,
+        4.1228738812192826e-05,
+        0.0005093918014026812,
+        0.9990531010131632
+      ],
+      "yaw_degrees_local": 174.95446833241363,
+      "yaw_radians": 3.054556184161942,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0361004525471094,
+        8.202425256112967,
+        0.8623512325081819
+      ],
+      "z_min": 0.74104987525084,
+      "z_max": 0.8623036081613592
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        3.149733590156214,
+        8.196385247018986,
+        0.8184091298637143
+      ],
+      "rotation_wxyz": [
+        0.3958597835389897,
+        -0.0002589223026562527,
+        -0.0004406121394463576,
+        -0.9183108246104084
+      ],
+      "yaw_degrees_local": -133.41948926576572,
+      "yaw_radians": -2.327584932959995,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.149733590156214,
+        8.196385247018986,
+        0.8957908849970537
+      ],
+      "z_min": 0.7410416124963309,
+      "z_max": 0.8958051227630098
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.227164746601445,
+        8.215121484330592,
+        0.7873514852895447
+      ],
+      "rotation_wxyz": [
+        0.316569521684123,
+        -0.00010044508286781168,
+        0.0005010894147435077,
+        0.9485691734190341
+      ],
+      "yaw_degrees_local": 143.0301037567142,
+      "yaw_radians": 2.497371155372519,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.227164746601445,
+        8.215121484330592,
+        0.8335440851956272
+      ],
+      "z_min": 0.7411394838333139,
+      "z_max": 0.8335246836454787
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        3.4309867808897514,
+        8.25097358479912,
+        0.813722828554735
+      ],
+      "rotation_wxyz": [
+        0.6589038879057649,
+        -0.00038179466231029946,
+        -0.0003397243766226925,
+        -0.752226963969553
+      ],
+      "yaw_degrees_local": -97.62603623511114,
+      "yaw_radians": -1.7028710819244266,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4309867808897514,
+        8.25097358479912,
+        0.8865852731614787
+      ],
+      "z_min": 0.7409506097528585,
+      "z_max": 0.8866754989663459
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_closed_book_001_closed_book_68f8b649/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.1267503300819914,
+        0.15151641975747837,
+        0.028270965812083895
+      ],
+      "bbox_min_m": [
+        -0.06340405459459365,
+        -0.07580797273610651,
+        -0.014330858064463681
+      ],
+      "bbox_max_m": [
+        0.06334627548739777,
+        0.07570844702137189,
+        0.013940107747620167
+      ],
+      "translation_world": [
+        3.6236120938667558,
+        8.295268271435125,
+        0.7552121063504508
+      ],
+      "rotation_wxyz": [
+        0.13035532544106668,
+        -3.295278752913738e-06,
+        0.0005110469228732849,
+        0.9914672097196848
+      ],
+      "yaw_degrees_local": 164.9610362339996,
+      "yaw_radians": 2.88013798066571,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6236120938667558,
+        8.295268271435125,
+        0.7693475892564927
+      ],
+      "z_min": 0.7408812482859871,
+      "z_max": 0.7691522140980709
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        3.317153084193605,
+        8.25743608478677,
+        0.7898240331587794
+      ],
+      "rotation_wxyz": [
+        0.7783576219632234,
+        -0.0003549447709559572,
+        0.00036768740230165044,
+        0.6278209546932468
+      ],
+      "yaw_degrees_local": 77.72037939817392,
+      "yaw_radians": 1.357501160265667,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.317153084193605,
+        8.25743608478677,
+        0.8386914976647285
+      ],
+      "z_min": 0.7409584656464612,
+      "z_max": 0.8386933946583596
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        2.0399395699485465,
+        8.882011079121972,
+        0.7943968625881408
+      ],
+      "rotation_wxyz": [
+        0.1084702736776759,
+        7.96974112774347e-06,
+        0.0005109954006316197,
+        0.9940995616881008
+      ],
+      "yaw_degrees_local": 167.4870058347796,
+      "yaw_radians": 2.9242244445906933,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0399395699485465,
+        8.882011079121972,
+        0.848317064881539
+      ],
+      "z_min": 0.7404868286083146,
+      "z_max": 0.8483272331951109
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5",
+      "asset_source": "sceneforge_base",
+      "category": "small prop",
+      "asset_usd": "assets/small_042_bedroom_asset_000158_obj_001_alarm_clock_twin_bell_dark_metal_d7e950d5/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11267851084047409,
+        0.045247098799737526,
+        0.15598704894099652
+      ],
+      "bbox_min_m": [
+        -0.05632074511640789,
+        -0.0226498298603175,
+        -0.07795980176575983
+      ],
+      "bbox_max_m": [
+        0.05635776572406623,
+        0.022597268939420004,
+        0.07802724717523672
+      ],
+      "translation_world": [
+        2.5007907491534342,
+        8.845779730564125,
+        0.8184249995754954
+      ],
+      "rotation_wxyz": [
+        0.9687021600968102,
+        -0.0005069695381377704,
+        -6.451126754830105e-05,
+        -0.24822542948690385
+      ],
+      "yaw_degrees_local": -28.80376837250418,
+      "yaw_radians": -0.5016957260087952,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.5007907491534342,
+        8.845779730564125,
+        0.8964185240459936
+      ],
+      "z_min": 0.7404651978097356,
+      "z_max": 0.8964522467507321
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000037_obj_001_closed_blue_notebook_1e59ab35/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.09471499833728537,
+        0.14145153838107039,
+        0.013966561617681204
+      ],
+      "bbox_min_m": [
+        -0.04742413782304623,
+        -0.07070180080804221,
+        -0.006981003598881819
+      ],
+      "bbox_max_m": [
+        0.04729086051423915,
+        0.07074973757302817,
+        0.006985558018799381
+      ],
+      "translation_world": [
+        3.5714116495076844,
+        8.672353758654292,
+        0.7474864096656268
+      ],
+      "rotation_wxyz": [
+        0.36299180925234703,
+        -0.0001250493966431245,
+        0.000495522415879951,
+        0.9317921899414545
+      ],
+      "yaw_degrees_local": 137.37318903067143,
+      "yaw_radians": 2.3986393894650786,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5714116495076844,
+        8.672353758654292,
+        0.7544696904744674
+      ],
+      "z_min": 0.7405054060667451,
+      "z_max": 0.7544719676844263
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_stainless_steel_thermos_flask_001_stainless_steel_thermos_flask_66139690/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.06661444706665585,
+        0.06600053104404438,
+        0.2831215743915029
+      ],
+      "bbox_min_m": [
+        -0.033361155741762724,
+        -0.03298981941126584,
+        -0.14163486323912056
+      ],
+      "bbox_max_m": [
+        0.03325329132489313,
+        0.03301071163277847,
+        0.14148671115238234
+      ],
+      "translation_world": [
+        2.8302108813181044,
+        8.208469389441536,
+        0.8827047370652635
+      ],
+      "rotation_wxyz": [
+        0.8744300151399241,
+        -0.00047417201866663695,
+        -0.00019063240268621455,
+        -0.48515140672018664
+      ],
+      "yaw_degrees_local": -58.103504002187776,
+      "yaw_radians": -1.013072506047052,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8302108813181044,
+        8.208469389441536,
+        1.024265524261015
+      ],
+      "z_min": 0.741069873826143,
+      "z_max": 1.024191448217646
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_093_living_room_asset_000051_obj_001_black_tv_remote_control_6ea49320/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1927144720907435,
+        0.05359577785099448,
+        0.01565867836963592
+      ],
+      "bbox_min_m": [
+        -0.09639494486621161,
+        -0.026805604557610965,
+        -0.008012769625562702
+      ],
+      "bbox_max_m": [
+        0.09631952722453191,
+        0.026790173293383523,
+        0.007645908744073206
+      ],
+      "translation_world": [
+        1.73925812713021,
+        8.769173458975505,
+        0.7486521144798511
+      ],
+      "rotation_wxyz": [
+        0.4659295212729092,
+        -0.0002923342297164811,
+        -0.0004191903080659001,
+        -0.8848216882663882
+      ],
+      "yaw_degrees_local": -124.51791119999933,
+      "yaw_radians": -2.1722230511227725,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.73925812713021,
+        8.769173458975505,
+        0.7564814536646691
+      ],
+      "z_min": 0.7406393448542884,
+      "z_max": 0.7562980232239244
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf",
+      "asset_source": "sceneforge_base",
+      "category": "office_supplies",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_002_silver_pen_86e1f7bf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1420025204470575,
+        0.010063975047585667,
+        0.011662102049572408
+      ],
+      "bbox_min_m": [
+        -0.07082160919283033,
+        -0.004979181863939641,
+        -0.005689800729324661
+      ],
+      "bbox_max_m": [
+        0.07118091125422717,
+        0.005084793183646021,
+        0.005972301320247745
+      ],
+      "translation_world": [
+        2.8493455869055597,
+        8.887613121500367,
+        0.7460683697284634
+      ],
+      "rotation_wxyz": [
+        0.18691419152082442,
+        -0.00015702122969231126,
+        -0.000486337485359937,
+        -0.9823761111856806
+      ],
+      "yaw_degrees_local": -158.51319869417136,
+      "yaw_radians": -2.765552754825271,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8493455869055597,
+        8.887613121500367,
+        0.7518994207532496
+      ],
+      "z_min": 0.7403785689991387,
+      "z_max": 0.7520406710487111
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_096_cafe_asset_000031_obj_002_white_ceramic_mug_b51010bc/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.06984816455525723,
+        0.09469857266993445,
+        0.07869771865175168
+      ],
+      "bbox_min_m": [
+        -0.034906068558488816,
+        -0.04738357008026024,
+        -0.03934596395793631
+      ],
+      "bbox_max_m": [
+        0.03494209599676842,
+        0.04731500258967421,
+        0.03935175469381535
+      ],
+      "translation_world": [
+        3.397164030661722,
+        8.715434959269828,
+        0.7798297699594723
+      ],
+      "rotation_wxyz": [
+        0.9945857763342785,
+        -0.0005109535549302704,
+        1.030926498018915e-05,
+        -0.10391762282560447
+      ],
+      "yaw_degrees_local": -11.988331527542897,
+      "yaw_radians": -0.20821112321790816,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.397164030661722,
+        8.715434959269828,
+        0.8191786292853481
+      ],
+      "z_min": 0.740483806001536,
+      "z_max": 0.8191815246532876
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.6247638601748444,
+        8.4884437942645,
+        0.7460486355873727
+      ],
+      "rotation_wxyz": [
+        0.500498162800442,
+        -0.0003086555423871939,
+        -0.00040732244278210325,
+        -0.8657374474132249
+      ],
+      "yaw_degrees_local": -119.99277444388918,
+      "yaw_radians": -2.0932444892186495,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.6247638601748444,
+        8.4884437942645,
+        0.7513840762823735
+      ],
+      "z_min": 0.7406851728405626,
+      "z_max": 0.7513560542305642
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000035_obj_001_closed_gray_notebook_323a5315/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.07769220647687808,
+        0.11119181915117887,
+        0.008273202720254086
+      ],
+      "bbox_min_m": [
+        -0.038796967173587486,
+        -0.055687847340049466,
+        -0.004320270552467404
+      ],
+      "bbox_max_m": [
+        0.03889523930329058,
+        0.055503971811129406,
+        0.003952932167786655
+      ],
+      "translation_world": [
+        3.7328425270069934,
+        8.547307928591875,
+        0.7449320472607992
+      ],
+      "rotation_wxyz": [
+        0.9845530985632188,
+        -0.00048819082396037514,
+        0.00015116062860812224,
+        0.17508550748062734
+      ],
+      "yaw_degrees_local": 20.108560544940275,
+      "yaw_radians": 0.3519850666359009,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7328425270069934,
+        8.547307928591875,
+        0.7490686486209263
+      ],
+      "z_min": 0.7406117767083318,
+      "z_max": 0.7488849794285859
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_002_bedroom_asset_000008_alarm_clock_001_alarm_clock_14467aec/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.10384852108424292,
+        0.05465239731116486,
+        0.1457248892134874
+      ],
+      "bbox_min_m": [
+        -0.051822404824251336,
+        -0.02762764247640085,
+        -0.07277221880187645
+      ],
+      "bbox_max_m": [
+        0.05202611625999158,
+        0.02702475483476399,
+        0.07295267041161095
+      ],
+      "translation_world": [
+        1.9456888761170124,
+        8.790733222796097,
+        0.8133635758705162
+      ],
+      "rotation_wxyz": [
+        0.8101147522711717,
+        -0.0003736815230317291,
+        0.0003486286499773074,
+        0.5862711207050898
+      ],
+      "yaw_degrees_local": 71.72697982568889,
+      "yaw_radians": 1.252896551960567,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9456888761170124,
+        8.790733222796097,
+        0.88622602047726
+      ],
+      "z_min": 0.7405913570686398,
+      "z_max": 0.8863162462821271
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314",
+      "asset_source": "hssd",
+      "category": "book",
+      "asset_usd": "assets/hssd_book_068dc0001bbcb597e85cbb5b3ca820a9231e58e4_34417f848314/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.25,
+        0.06003207527101047,
+        0.30000001192092896
+      ],
+      "bbox_min_m": [
+        -0.125,
+        -0.030016036704182625,
+        -1.2633466216205531e-17
+      ],
+      "bbox_max_m": [
+        0.125,
+        0.03001603856682784,
+        0.30000001192092896
+      ],
+      "translation_world": [
+        3.464559270397019,
+        8.454286010619018,
+        0.7407401120632064
+      ],
+      "rotation_wxyz": [
+        0.9693074085335549,
+        -0.0004759764366493647,
+        0.0001860812940488268,
+        0.245851350580281
+      ],
+      "yaw_degrees_local": 28.4055963225463,
+      "yaw_radians": 0.49679562474062045,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.464559270397019,
+        8.454286010619018,
+        0.8907401180236709
+      ],
+      "z_min": 0.7407401120632064,
+      "z_max": 1.0407401239841354
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        2.1004772912403027,
+        8.291766159658735,
+        0.7872898012361393
+      ],
+      "rotation_wxyz": [
+        0.4868720552462398,
+        -0.00019156558904920304,
+        0.00047379578019706385,
+        0.8734731482080524
+      ],
+      "yaw_degrees_local": 121.67088655035451,
+      "yaw_radians": 2.1245825194307635,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1004772912403027,
+        8.291766159658735,
+        0.8334824011422218
+      ],
+      "z_min": 0.7410777997799085,
+      "z_max": 0.8334629995920734
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        2.705160452503598,
+        8.85226973509385,
+        0.8703839118417555
+      ],
+      "rotation_wxyz": [
+        0.860792930375334,
+        -0.0004687644108039509,
+        -0.00020356754015298558,
+        -0.5089550764419484
+      ],
+      "yaw_degrees_local": -61.24722515839153,
+      "yaw_radians": -1.0679407983978,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.705160452503598,
+        8.85226973509385,
+        1.0005510613565245
+      ],
+      "z_min": 0.7404327487261193,
+      "z_max": 1.0007670477556576
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_060_retail_store_asset_000155_obj_004_blue_office_stapler_0b9d953d/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04375972082061863,
+        0.18875274898282998,
+        0.0691994539656706
+      ],
+      "bbox_min_m": [
+        -0.021886626789457065,
+        -0.09440901633954488,
+        -0.03460678945038333
+      ],
+      "bbox_max_m": [
+        0.02187309403116156,
+        0.09434373264328508,
+        0.03459266451528724
+      ],
+      "translation_world": [
+        4.882773749013657,
+        8.116702093635986,
+        0.9548068183467151
+      ],
+      "rotation_wxyz": [
+        0.7435314347985513,
+        0.0,
+        0.0,
+        -0.6687009835991029
+      ],
+      "yaw_degrees_local": -173.9337701935808,
+      "yaw_radians": -1.4649206434902635,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.882773749013657,
+        8.116702093635986,
+        0.9894065453295504
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9893994828620023
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        4.948957355136947,
+        8.320429198829297,
+        0.9254531765654129
+      ],
+      "rotation_wxyz": [
+        0.6507969495769366,
+        0.0,
+        0.0,
+        0.7592518227975185
+      ],
+      "yaw_degrees_local": 8.796569125730542,
+      "yaw_radians": 1.7243254209181738,
+      "support_surface_id": "ceo_office:S_1",
+      "support_parent_id": "ceo_office:credenza_cabinet_0",
+      "support_parent_name": "credenza_cabinet",
+      "support_mode": "shelf",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        4.948957355136947,
+        8.320429198829297,
+        0.9306890918835464
+      ],
+      "z_min": 0.9202000288963318,
+      "z_max": 0.9306718595325988
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.7191984507131246,
+        8.25234974356064,
+        0.7410393573790687
+      ],
+      "rotation_wxyz": [
+        0.16675615635768534,
+        -2.2101196183606738e-05,
+        0.0005105794290485725,
+        0.9859980340431694
+      ],
+      "yaw_degrees_local": 160.7427502882539,
+      "yaw_radians": 2.806515038241929,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.7191984507131246,
+        8.25234974356064,
+        0.7635363690928517
+      ],
+      "z_min": 0.7410393603740032,
+      "z_max": 0.7860333838015693
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        3.1519354036094125,
+        8.323634363702068,
+        0.774981893571969
+      ],
+      "rotation_wxyz": [
+        0.8774016439087888,
+        -0.00047533719520917325,
+        -0.0001877081966537127,
+        -0.47975628613530313
+      ],
+      "yaw_degrees_local": -57.39769037996123,
+      "yaw_radians": -1.000753733190285,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.1519354036094125,
+        8.323634363702068,
+        0.8089804497426478
+      ],
+      "z_min": 0.7409122507583432,
+      "z_max": 0.8089093630997009
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61",
+      "asset_source": "sceneforge_base",
+      "category": "small electronic device",
+      "asset_usd": "assets/small_052_bedroom_asset_000151_obj_001_black_digital_alarm_clock_red_display_dce73b61/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.14640294232689333,
+        0.04620259706001767,
+        0.07322042613835733
+      ],
+      "bbox_min_m": [
+        -0.07340493004375498,
+        -0.023243587943027014,
+        -0.036655550724284704
+      ],
+      "bbox_max_m": [
+        0.07299801228313833,
+        0.022959009116990635,
+        0.03656487541407261
+      ],
+      "translation_world": [
+        3.4951254572761736,
+        8.793672492432382,
+        0.7770475924743351
+      ],
+      "rotation_wxyz": [
+        0.8948083461585216,
+        -0.0004820544516808871,
+        -0.0001697154143115819,
+        -0.4464501791524284
+      ],
+      "yaw_degrees_local": -53.091034280083534,
+      "yaw_radians": -0.9255884003075969,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.4951254572761736,
+        8.793672492432382,
+        0.8136578055435137
+      ],
+      "z_min": 0.7403920417500504,
+      "z_max": 0.8136124678884077
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_076_cafe_asset_000095_obj_003_white_ceramic_mug_round_handle_e8f78950/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07442215291841212,
+        0.09473564458835386,
+        0.061204803010785555
+      ],
+      "bbox_min_m": [
+        -0.037213851651446125,
+        -0.04748784602069967,
+        -0.03059200073337553
+      ],
+      "bbox_max_m": [
+        0.03720830126696599,
+        0.04724779856765419,
+        0.030612802277410013
+      ],
+      "translation_world": [
+        2.30153030676366,
+        8.90715295437226,
+        0.7710201736229609
+      ],
+      "rotation_wxyz": [
+        0.6309561535832006,
+        -0.00027081942059289737,
+        0.000433401266345681,
+        0.7758183234982766
+      ],
+      "yaw_degrees_local": 101.69987522099166,
+      "yaw_radians": 1.7760225215247258,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.30153030676366,
+        8.90715295437226,
+        0.8016225751283537
+      ],
+      "z_min": 0.7404281728895854,
+      "z_max": 0.801632975900371
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        1.7166600381143033,
+        8.322085974279434,
+        0.7972556038906723
+      ],
+      "rotation_wxyz": [
+        0.6446370854245582,
+        -0.0003753365182562879,
+        -0.00034684624014620635,
+        -0.7644885655884689
+      ],
+      "yaw_degrees_local": -99.7817561338288,
+      "yaw_radians": -1.74049551152884,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7166600381143033,
+        8.322085974279434,
+        0.853437883700565
+      ],
+      "z_min": 0.7410956837207081,
+      "z_max": 0.8534602433404934
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_055_restaurant_asset_000145_obj_003_clear_stemmed_wine_glass_8cb34be7/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08376993667050953,
+        0.08419956568131248,
+        0.20017740218402602
+      ],
+      "bbox_min_m": [
+        -0.04184169051108043,
+        -0.04209925261299786,
+        -0.10021948656419531
+      ],
+      "bbox_max_m": [
+        0.041928246159429104,
+        0.04210031306831457,
+        0.09995791561983068
+      ],
+      "translation_world": [
+        2.4669023613582803,
+        8.259614649762801,
+        0.8412834971844037
+      ],
+      "rotation_wxyz": [
+        0.6054784048251727,
+        -0.00025662949704598773,
+        0.00044195148770677985,
+        0.7958615709472021
+      ],
+      "yaw_degrees_local": 105.4147274228311,
+      "yaw_radians": 1.8408589490300094,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4669023613582803,
+        8.259614649762801,
+        0.9413721982764167
+      ],
+      "z_min": 0.7410640106202083,
+      "z_max": 0.9412414128042343
+    }
+  ],
+  "variant_index": 197
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0199/augmented.usda b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0199/augmented.usda
new file mode 100644
index 0000000000000000000000000000000000000000..558e9aebcf16dad0853c73597a2ddecdcbf173e3
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0199/augmented.usda
@@ -0,0 +1,471 @@
+#usda 1.0
+(
+    defaultPrim = "scene_scene_000"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda@
+    ]
+)
+
+over "scene_scene_000"
+{
+    def Scope "SceneAugmentation"
+    {
+        custom string sceneforge:schema = "SceneForgeExternalSmallPlacement.v1"
+        custom string sceneforge:room_key = "outputs_2026-06-10_07-02-44_scene_000__ceo_office"
+        custom int64 sceneforge:seed = 1916618341156698426
+        custom int sceneforge:additional_small_count = 30
+        custom bool sceneforge:preserve_existing_scene = 1
+        def Xform "small_001" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.450886661, -0.000285197316, -0.000424078185, -0.892581065)
+            double3 xformOp:translate = (3.61908598151, 8.50460024752, 0.740669503038)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_002" (
+            prepend references = @../../../../../assets/scene_augmentation/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f"
+            custom string sceneforge:asset_source = "hssd"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.458914567, -0.000289008607, -0.000421490025, -0.888480252)
+            double3 xformOp:translate = (2.83237419167, 8.24747829118, 0.74102995867)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_003" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.973997077, -0.000508282158, -5.31889467e-05, -0.22656)
+            double3 xformOp:translate = (3.32757109585, 8.28234890667, 0.788254932396)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_004" (
+            prepend references = @../../../../../assets/scene_augmentation/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.681724965, -0.000392061396, -0.000327822632, -0.731608373)
+            double3 xformOp:translate = (3.00380570722, 8.26889584718, 0.750745138196)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_005" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.755117357, -0.000424464008, -0.000284622771, -0.655589441)
+            double3 xformOp:translate = (3.3604335876, 8.42072446031, 0.796947293614)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_006" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "decorative_object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.677016762, -0.000389949939, -0.000330331442, -0.735967419)
+            double3 xformOp:translate = (1.85530292719, 8.25022075066, 0.787363001793)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_007" (
+            prepend references = @../../../../../assets/scene_augmentation/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.758736174, -0.000343500812, 0.000378400592, 0.651397849)
+            double3 xformOp:translate = (1.81001771449, 8.87474145151, 0.789388897933)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_008" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999409695, -0.000504640441, 8.0733149e-05, 0.0343511208)
+            double3 xformOp:translate = (3.32864856061, 8.48944805622, 0.746085135173)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_009" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.885277202, -0.000419476172, 0.00029192389, 0.465063453)
+            double3 xformOp:translate = (3.61218183356, 8.83876030906, 0.80100598441)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_010" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.699803781, -0.00040013517, -0.000317917697, -0.714334941)
+            double3 xformOp:translate = (3.34415271754, 8.91626178109, 0.76531353372)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_011" (
+            prepend references = @../../../../../assets/scene_augmentation/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.749654804, -0.000338234696, 0.000383115005, 0.661828841)
+            double3 xformOp:translate = (1.94145818016, 8.80735003649, 0.774644662392)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_012" (
+            prepend references = @../../../../../assets/scene_augmentation/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.265841235, -0.000195883314, -0.000472027058, -0.964016689)
+            double3 xformOp:translate = (1.89107385891, 8.66483102962, 0.743765357999)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_013" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.797530661, -0.000366222522, 0.000356456001, 0.603278197)
+            double3 xformOp:translate = (3.17330335796, 8.53831898639, 0.75413753246)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_014" (
+            prepend references = @../../../../../assets/scene_augmentation/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.469118571, -0.000293844598, -0.000418132956, -0.883135044)
+            double3 xformOp:translate = (2.03878370797, 8.39228648805, 0.781547190971)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_015" (
+            prepend references = @../../../../../assets/scene_augmentation/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.437529421, -0.000164913092, 0.000483718398, 0.89920395)
+            double3 xformOp:translate = (3.40742355961, 8.73908641197, 0.796618446996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_016" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.550796668, -0.000226442925, 0.000458152178, 0.834639305)
+            double3 xformOp:translate = (2.09447548659, 8.85600331664, 0.808559639266)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_017" (
+            prepend references = @../../../../../assets/scene_augmentation/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.378628332, -0.000250642479, -0.000445374184, -0.925548662)
+            double3 xformOp:translate = (2.11119485102, 8.27002812599, 0.809151835798)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_018" (
+            prepend references = @../../../../../assets/scene_augmentation/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "electronics"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.991842839, -0.000494904304, 0.000127473709, 0.12746577)
+            double3 xformOp:translate = (3.39411508946, 8.56464982248, 0.743758033818)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_019" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "paper_goods"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.934846934, -0.000496568447, -0.000120828778, -0.355050629)
+            double3 xformOp:translate = (1.89744319579, 8.46541111385, 0.818294941769)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_020" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.887958708, -0.000479434395, -0.000176981573, -0.459922897)
+            double3 xformOp:translate = (2.6486466314, 8.22209882225, 0.788402060461)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_021" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.999680097, -0.00050535177, 7.61538229e-05, 0.0252872053)
+            double3 xformOp:translate = (2.42813813227, 8.84100133494, 0.74573235907)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_022" (
+            prepend references = @../../../../../assets/scene_augmentation/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.166074623, -0.000146689889, -0.000489552747, -0.986113056)
+            double3 xformOp:translate = (2.30953314962, 8.22831766153, 0.746368789951)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_023" (
+            prepend references = @../../../../../assets/scene_augmentation/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "stationery"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.187433381, -0.000157278252, -0.000486254427, -0.982277184)
+            double3 xformOp:translate = (1.78007160367, 8.40825611181, 0.749167379177)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_024" (
+            prepend references = @../../../../../assets/scene_augmentation/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.963232772, -0.000505490957, -7.52243883e-05, -0.26866776)
+            double3 xformOp:translate = (1.7318220368, 8.26462843023, 0.746515474181)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_025" (
+            prepend references = @../../../../../assets/scene_augmentation/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "drinkware"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.822095551, -0.000380829183, 0.000340806323, 0.569349316)
+            double3 xformOp:translate = (3.7037973526, 8.22891971711, 0.788034646954)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_026" (
+            prepend references = @../../../../../assets/scene_augmentation/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small object"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.698975719, -0.000309156902, 0.000406942043, 0.715145218)
+            double3 xformOp:translate = (3.04132010079, 8.86693114863, 0.87032644996)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_027" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "small_electronics"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.46885536, -0.000293719974, -0.000418220508, -0.88327481)
+            double3 xformOp:translate = (3.19821455794, 8.83306153455, 0.794299754053)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_028" (
+            prepend references = @../../../../../assets/scene_augmentation/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "writing_instrument"
+            custom bool sceneforge:random_pose = 1
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.705548801, -0.000402689124, -0.000314676478, -0.708661152)
+            double3 xformOp:translate = (3.52641066862, 8.66465356102, 0.746169353104)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_029" (
+            prepend references = @../../../../../assets/scene_augmentation/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "clock"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.418147316, -0.000269595485, -0.000434163668, -0.908379085)
+            double3 xformOp:translate = (1.82908026347, 8.73350321962, 0.821853868912)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+        def Xform "small_030" (
+            prepend references = @../../../../../assets/scene_augmentation/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd@
+        )
+        {
+            custom string sceneforge:asset_uid = "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065"
+            custom string sceneforge:asset_source = "sceneforge_base"
+            custom string sceneforge:category = "office_supply"
+            custom bool sceneforge:random_pose = 0
+            custom string sceneforge:support_surface_id = "ceo_office:S_0"
+            custom string sceneforge:support_mode = "table"
+            custom bool sceneforge:floor_fallback = 0
+            quatf xformOp:orient = (0.0750186345, -0.000101215168, -0.000500934433, -0.997182001)
+            double3 xformOp:translate = (2.39977658212, 8.32193333496, 0.74694951333)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+        }
+    }
+}
diff --git a/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0199/placement.json b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0199/placement.json
new file mode 100644
index 0000000000000000000000000000000000000000..8acd7f297c8505c437ceb0d5a92425039ef35e39
--- /dev/null
+++ b/scenes/scene_augmentation/variants/outputs_2026-06-10_07-02-44_scene_000__ceo_office/variant_0199/placement.json
@@ -0,0 +1,1542 @@
+{
+  "schema": "SceneForgeExternalSmallPlacement.v1",
+  "room_key": "outputs_2026-06-10_07-02-44_scene_000__ceo_office",
+  "scene_id": "outputs_2026-06-10_07-02-44_scene_000",
+  "room_name": "ceo_office",
+  "room_type": "ceo_office",
+  "catalog_scene_type": "conference_room",
+  "seed": 1916618341156698426,
+  "base_stage": "inputs/scenesmith/isaacsim_scenes_20260623_172710/outputs_2026-06-10_07-02-44_scene_000/mujoco_export/usd/scene_scene_000.usda",
+  "default_prim": "scene_scene_000",
+  "preserve_existing_scene": true,
+  "existing_small_count": 9,
+  "requested_additional_count": 30,
+  "accepted_additional_count": 30,
+  "exact_count_satisfied": true,
+  "final_total_small_count": 39,
+  "hssd_accepted_count": 2,
+  "hssd_quota_satisfied": true,
+  "floor_fallback_count": 0,
+  "source_counts": {
+    "hssd": 2,
+    "sceneforge_base": 28
+  },
+  "category_counts": {
+    "electronics": 7,
+    "drinkware": 6,
+    "small object": 6,
+    "decorative_object": 1,
+    "office_supply": 3,
+    "paper_goods": 1,
+    "writing_instrument": 3,
+    "stationery": 1,
+    "small_electronics": 1,
+    "clock": 1
+  },
+  "failed_sampling_attempt_count": 148,
+  "collision_precheck": "oriented_2d_footprints_plus_vertical_intervals",
+  "runtime_physics_status": "pending_isaac_validation",
+  "placements": [
+    {
+      "instance_id": "small_001",
+      "asset_uid": "hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624",
+      "asset_source": "hssd",
+      "category": "electronics",
+      "asset_usd": "assets/hssd_electronics_265bb358933e87d0b90bf7766b62e8a57dd7dda2_8d69733d3624/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.3100000023841858,
+        0.1015999987721444,
+        0.35499998927116394
+      ],
+      "bbox_min_m": [
+        -0.1550000011920929,
+        -0.05079999938607216,
+        -2.255973158774445e-17
+      ],
+      "bbox_max_m": [
+        0.1550000011920929,
+        0.050799999386072235,
+        0.35499998927116394
+      ],
+      "translation_world": [
+        3.619085981505711,
+        8.50460024752374,
+        0.7406695030377258
+      ],
+      "rotation_wxyz": [
+        0.4508866611440068,
+        -0.00028519731605311207,
+        -0.00042407818519279425,
+        -0.8925810650145978
+      ],
+      "yaw_degrees_local": -126.45753195875679,
+      "yaw_radians": -2.2060758293312985,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.619085981505711,
+        8.50460024752374,
+        0.9181694976733078
+      ],
+      "z_min": 0.7406695030377258,
+      "z_max": 1.0956694923088897
+    },
+    {
+      "instance_id": "small_002",
+      "asset_uid": "hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f",
+      "asset_source": "hssd",
+      "category": "drinkware",
+      "asset_usd": "assets/hssd_drinkware_0128475579600f804ec7ef1cf8a212622760cfd1_fa97e7654e7f/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11932729184627533,
+        0.10446856170892715,
+        0.044994023427566116
+      ],
+      "bbox_min_m": [
+        -0.05958772823214531,
+        -0.052231237292289734,
+        2.9949345110053373e-09
+      ],
+      "bbox_max_m": [
+        0.05973956361413002,
+        0.05223732441663743,
+        0.044994026422500624
+      ],
+      "translation_world": [
+        2.8323741916721823,
+        8.247478291176089,
+        0.7410299586696443
+      ],
+      "rotation_wxyz": [
+        0.45891456748066156,
+        -0.0002890086067312514,
+        -0.000421490025357153,
+        -0.8884802522139821
+      ],
+      "yaw_degrees_local": -125.42452533049692,
+      "yaw_radians": -2.188046457416551,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.8323741916721823,
+        8.247478291176089,
+        0.7635269703834273
+      ],
+      "z_min": 0.7410299616645788,
+      "z_max": 0.7860239850921449
+    },
+    {
+      "instance_id": "small_003",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        3.3275710958487803,
+        8.282348906666494,
+        0.7882549323961353
+      ],
+      "rotation_wxyz": [
+        0.9739970765840786,
+        -0.0005082821580423629,
+        -5.318894674752412e-05,
+        -0.2265600000570545
+      ],
+      "yaw_degrees_local": -26.247971395963646,
+      "yaw_radians": -0.4570886714168987,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3275710958487803,
+        8.282348906666494,
+        0.8356210590573903
+      ],
+      "z_min": 0.7409318774813856,
+      "z_max": 0.8356641308038956
+    },
+    {
+      "instance_id": "small_004",
+      "asset_uid": "small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_088_laboratory_workbench_asset_000036_spiral_notebook_001_spiral_notebook_ca46ffe0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.20436342125653262,
+        0.14879127618011345,
+        0.018590556416936507
+      ],
+      "bbox_min_m": [
+        -0.1021962390178176,
+        -0.07430109887474819,
+        -0.009758614373121338
+      ],
+      "bbox_max_m": [
+        0.102167182238715,
+        0.07449017730536524,
+        0.008831942043815134
+      ],
+      "translation_world": [
+        3.0038057072170927,
+        8.268895847182737,
+        0.7507451381956536
+      ],
+      "rotation_wxyz": [
+        0.6817249649642196,
+        -0.0003920613956570083,
+        -0.00032782263234223377,
+        -0.7316083726726462
+      ],
+      "yaw_degrees_local": -94.10152570068051,
+      "yaw_radians": -1.6413567364988935,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.0038057072170927,
+        8.268895847182737,
+        0.7600404164041218
+      ],
+      "z_min": 0.7409865238225323,
+      "z_max": 0.7595770802394687
+    },
+    {
+      "instance_id": "small_005",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.3604335875969578,
+        8.420724460306282,
+        0.7969472936137859
+      ],
+      "rotation_wxyz": [
+        0.7551173573876703,
+        -0.00042446400828311973,
+        -0.00028462277124738323,
+        -0.6555894411840733
+      ],
+      "yaw_degrees_local": -81.98744267104752,
+      "yaw_radians": -1.4299259976759193,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3604335875969578,
+        8.420724460306282,
+        0.8531295734236786
+      ],
+      "z_min": 0.7407873734438217,
+      "z_max": 0.853151933063607
+    },
+    {
+      "instance_id": "small_006",
+      "asset_uid": "small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf",
+      "asset_source": "sceneforge_base",
+      "category": "decorative_object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_obj_002_glass_sphere_paperweight_clear_bc05debf/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09068229989199111,
+        0.09468004919081885,
+        0.09238519981216488
+      ],
+      "bbox_min_m": [
+        -0.04535255016868895,
+        -0.04732234919576085,
+        -0.046212001456230854
+      ],
+      "bbox_max_m": [
+        0.045329749723302185,
+        0.04735769999505801,
+        0.04617319835593402
+      ],
+      "translation_world": [
+        1.8553029271893213,
+        8.250220750659832,
+        0.7873630017933909
+      ],
+      "rotation_wxyz": [
+        0.6770167622027117,
+        -0.0003899499388957,
+        -0.0003303314417301999,
+        -0.7359674194668816
+      ],
+      "yaw_degrees_local": -94.83677691782242,
+      "yaw_radians": -1.6541892977403692,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8553029271893213,
+        8.250220750659832,
+        0.8335556016994734
+      ],
+      "z_min": 0.7411510003371601,
+      "z_max": 0.833536200149325
+    },
+    {
+      "instance_id": "small_007",
+      "asset_uid": "small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_001_kitchen_asset_000003_obj_001_white_ceramic_mug_d36dbb19/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07940676355974857,
+        0.10749054787366769,
+        0.09773492901189838
+      ],
+      "bbox_min_m": [
+        -0.03973152807217856,
+        -0.05363650865240265,
+        -0.048865567512318166
+      ],
+      "bbox_max_m": [
+        0.039675235487569994,
+        0.05385403922126498,
+        0.048869361499580176
+      ],
+      "translation_world": [
+        1.810017714489006,
+        8.87474145151009,
+        0.7893888979325421
+      ],
+      "rotation_wxyz": [
+        0.7587361737948844,
+        -0.0003435008124469945,
+        0.00037840059208273883,
+        0.6513978487800548
+      ],
+      "yaw_degrees_local": 81.23545597651139,
+      "yaw_radians": 1.418850851826128,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.810017714489006,
+        8.87474145151009,
+        0.8382563624384912
+      ],
+      "z_min": 0.7405233304202239,
+      "z_max": 0.8382582594321223
+    },
+    {
+      "instance_id": "small_008",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        3.3286485606071445,
+        8.489448056223933,
+        0.7460851351728065
+      ],
+      "rotation_wxyz": [
+        0.9994096954318252,
+        -0.0005046404411989817,
+        8.073314899599561e-05,
+        0.03435112075391925
+      ],
+      "yaw_degrees_local": 3.8784131361408924,
+      "yaw_radians": 0.06871567077151458,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3286485606071445,
+        8.489448056223933,
+        0.7514205758678073
+      ],
+      "z_min": 0.7407216724259964,
+      "z_max": 0.751392553815998
+    },
+    {
+      "instance_id": "small_009",
+      "asset_uid": "small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_009_conference_room_asset_000030_black_cylindrical_cup_001_black_cylindrical_cup_f1fc1f04/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08292523916171378,
+        0.08326306233178193,
+        0.12125373291051925
+      ],
+      "bbox_min_m": [
+        -0.04146309753129095,
+        -0.041645084474628294,
+        -0.060674490802082315
+      ],
+      "bbox_max_m": [
+        0.041462141630422826,
+        0.04161797785715358,
+        0.0605792421084369
+      ],
+      "translation_world": [
+        3.612181833562553,
+        8.838760309060932,
+        0.8010059844102042
+      ],
+      "rotation_wxyz": [
+        0.8852772016173096,
+        -0.00041947617206395613,
+        0.0002919238895857667,
+        0.4650634527855412
+      ],
+      "yaw_degrees_local": 55.369954804732146,
+      "yaw_radians": 0.967412494456717,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.612181833562553,
+        8.838760309060932,
+        0.8616328508654638
+      ],
+      "z_min": 0.7403314936081219,
+      "z_max": 0.8615852265186411
+    },
+    {
+      "instance_id": "small_010",
+      "asset_uid": "small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_049_conference_room_asset_000147_obj_003_black_computer_mouse_c6faf2df/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07558446618017046,
+        0.13546607635010843,
+        0.04988848314025064
+      ],
+      "bbox_min_m": [
+        -0.037801749150386685,
+        -0.06790840771656843,
+        -0.025026703630030026
+      ],
+      "bbox_max_m": [
+        0.03778271702978377,
+        0.06755766863354001,
+        0.024861779510220585
+      ],
+      "translation_world": [
+        3.344152717538325,
+        8.91626178109294,
+        0.7653135337197527
+      ],
+      "rotation_wxyz": [
+        0.699803780660692,
+        -0.0004001351702552734,
+        -0.00031791769652709796,
+        -0.7143349406218249
+      ],
+      "yaw_degrees_local": -91.23616892897947,
+      "yaw_radians": -1.5913468007991018,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.344152717538325,
+        8.91626178109294,
+        0.7902577752898781
+      ],
+      "z_min": 0.7402868300897227,
+      "z_max": 0.7901753132299734
+    },
+    {
+      "instance_id": "small_011",
+      "asset_uid": "small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_089_conference_room_asset_000059_stapler_001_stapler_3e6118e9/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.04984377088709814,
+        0.11732802746023918,
+        0.06799711234135772
+      ],
+      "bbox_min_m": [
+        -0.024883822969941034,
+        -0.05860676680811572,
+        -0.03406964281362581
+      ],
+      "bbox_max_m": [
+        0.024959947917157103,
+        0.058721260652123436,
+        0.03392746952773187
+      ],
+      "translation_world": [
+        1.9414581801620083,
+        8.807350036487515,
+        0.774644662392378
+      ],
+      "rotation_wxyz": [
+        0.7496548035827016,
+        -0.0003382346957034411,
+        0.0003831150047475473,
+        0.661828840626914
+      ],
+      "yaw_degrees_local": 82.82030311846523,
+      "yaw_radians": 1.4465116670355644,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.9414581801620083,
+        8.807350036487515,
+        0.8086432185630568
+      ],
+      "z_min": 0.7405750195787522,
+      "z_max": 0.8085721319201098
+    },
+    {
+      "instance_id": "small_012",
+      "asset_uid": "small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_022_bedroom_asset_000068_obj_002_slim_silver_smartphone_3ba659de/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.12351952261928012,
+        0.0629525585430796,
+        0.006224006487751127
+      ],
+      "bbox_min_m": [
+        -0.06175205216851137,
+        -0.03137933173371405,
+        -0.0030394235168406014
+      ],
+      "bbox_max_m": [
+        0.06176747045076876,
+        0.03157322680936555,
+        0.0031845829709104996
+      ],
+      "translation_world": [
+        1.891073858909968,
+        8.664831029623507,
+        0.7437653579992536
+      ],
+      "rotation_wxyz": [
+        0.2658412351737626,
+        -0.00019588331352520178,
+        -0.00047202705825270244,
+        -0.9640166889123197
+      ],
+      "yaw_degrees_local": -149.22481606614974,
+      "yaw_radians": -2.6034399292370707,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.891073858909968,
+        8.664831029623507,
+        0.7468773612431292
+      ],
+      "z_min": 0.740725934482413,
+      "z_max": 0.7469499409701641
+    },
+    {
+      "instance_id": "small_013",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_003_black_tv_remote_control_fa8b3b92/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.2368304758587479,
+        0.06165677538443257,
+        0.027089498745194444
+      ],
+      "bbox_min_m": [
+        -0.11840331920997751,
+        -0.030845295947398384,
+        -0.013445739870869805
+      ],
+      "bbox_max_m": [
+        0.1184271566487704,
+        0.030811479437034172,
+        0.013643758874324619
+      ],
+      "translation_world": [
+        3.173303357959392,
+        8.538318986389458,
+        0.7541375324600383
+      ],
+      "rotation_wxyz": [
+        0.7975306611748807,
+        -0.00036622252209528045,
+        0.00035645600086193585,
+        0.6032781972739789
+      ],
+      "yaw_degrees_local": 74.15138847473426,
+      "yaw_radians": 1.295210486095254,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.173303357959392,
+        8.538318986389458,
+        0.7676822818326355
+      ],
+      "z_min": 0.7406917925891685,
+      "z_max": 0.7677812913343629
+    },
+    {
+      "instance_id": "small_014",
+      "asset_uid": "small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_056_cafe_asset_000180_obj_002_white_ceramic_mug_round_handle_839cee15/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08961988886721114,
+        0.11705966594800118,
+        0.08110001827906302
+      ],
+      "bbox_min_m": [
+        -0.044724814936783264,
+        -0.058581913968046906,
+        -0.040563528446564946
+      ],
+      "bbox_max_m": [
+        0.044895073930427895,
+        0.05847775197995428,
+        0.040536489832498045
+      ],
+      "translation_world": [
+        2.0387837079651026,
+        8.39228648804823,
+        0.7815471909705279
+      ],
+      "rotation_wxyz": [
+        0.4691185706958136,
+        -0.00029384459771517225,
+        -0.00041813295568983943,
+        -0.8831350437212312
+      ],
+      "yaw_degrees_local": -124.10450996429327,
+      "yaw_radians": -2.165007836226636,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.0387837079651026,
+        8.39228648804823,
+        0.8220972001100595
+      ],
+      "z_min": 0.740983662523963,
+      "z_max": 0.822083680803026
+    },
+    {
+      "instance_id": "small_015",
+      "asset_uid": "small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_010_retail_store_asset_000057_obj_002_black_handheld_barcode_scanner_f1ada569/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.060575937774485264,
+        0.07809621156573598,
+        0.1123645596197853
+      ],
+      "bbox_min_m": [
+        -0.03029113443465127,
+        -0.03906803993208775,
+        -0.05615992016996417
+      ],
+      "bbox_max_m": [
+        0.030284803339833986,
+        0.039028171633648176,
+        0.056204639449821125
+      ],
+      "translation_world": [
+        3.407423559609377,
+        8.73908641197164,
+        0.7966184469962523
+      ],
+      "rotation_wxyz": [
+        0.43752942126192634,
+        -0.00016491309172740986,
+        0.00048371839784860313,
+        0.8992039503640916
+      ],
+      "yaw_degrees_local": 128.04857343739502,
+      "yaw_radians": 2.235894160257294,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.407423559609377,
+        8.73908641197164,
+        0.8528007268061449
+      ],
+      "z_min": 0.7404585268262881,
+      "z_max": 0.8528230864460734
+    },
+    {
+      "instance_id": "small_016",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.094475486592428,
+        8.856003316637647,
+        0.808559639266349
+      ],
+      "rotation_wxyz": [
+        0.5507966680167404,
+        -0.00022644292526619223,
+        0.0004581521775973593,
+        0.8346393049226957
+      ],
+      "yaw_degrees_local": 113.09790989560747,
+      "yaw_radians": 1.974955822365512,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.094475486592428,
+        8.856003316637647,
+        0.8766149828199349
+      ],
+      "z_min": 0.7405063041440394,
+      "z_max": 0.8766169912512112
+    },
+    {
+      "instance_id": "small_017",
+      "asset_uid": "small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_085_restaurant_asset_000039_obj_002_clear_empty_tumbler_glass_a5cf2dd0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.08666375758337,
+        0.08690082635359911,
+        0.13611068710717172
+      ],
+      "bbox_min_m": [
+        -0.043316171162609184,
+        -0.04343330046671501,
+        -0.06805333512230954
+      ],
+      "bbox_max_m": [
+        0.04334758642076082,
+        0.04346752588688407,
+        0.06805735198486215
+      ],
+      "translation_world": [
+        2.1111948510196497,
+        8.270028125989425,
+        0.8091518357976432
+      ],
+      "rotation_wxyz": [
+        0.37862833166198445,
+        -0.0002506424793785205,
+        -0.00044537418399734455,
+        -0.9255486617585519
+      ],
+      "yaw_degrees_local": -135.5612158661118,
+      "yaw_radians": -2.3649651189903906,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.1111948510196497,
+        8.270028125989425,
+        0.877207179351229
+      ],
+      "z_min": 0.7410985006753337,
+      "z_max": 0.8772091877825053
+    },
+    {
+      "instance_id": "small_018",
+      "asset_uid": "small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663",
+      "asset_source": "sceneforge_base",
+      "category": "electronics",
+      "asset_usd": "assets/small_042_bedroom_asset_000156_obj_002_silver_smartphone_86ccd663/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.1532629232642314,
+        0.07781706116666953,
+        0.006025032970318757
+      ],
+      "bbox_min_m": [
+        -0.07661100364894882,
+        -0.038874840785445806,
+        -0.003120929297465464
+      ],
+      "bbox_max_m": [
+        0.07665191961528262,
+        0.03894222038122373,
+        0.0029041036728532743
+      ],
+      "translation_world": [
+        3.3941150894624394,
+        8.564649822480703,
+        0.7437580338183635
+      ],
+      "rotation_wxyz": [
+        0.9918428385440883,
+        -0.0004949043036980324,
+        0.00012747370874607134,
+        0.12746576971481233
+      ],
+      "yaw_degrees_local": 14.587638037946675,
+      "yaw_radians": 0.25562682407578247,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.3941150894624394,
+        8.564649822480703,
+        0.7467705503035229
+      ],
+      "z_min": 0.740637104520898,
+      "z_max": 0.7466621374912168
+    },
+    {
+      "instance_id": "small_019",
+      "asset_uid": "small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b",
+      "asset_source": "sceneforge_base",
+      "category": "paper_goods",
+      "asset_usd": "assets/small_006_cafe_asset_000012_obj_002_printed_cafe_menu_card_10cc193b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.11783558752064666,
+        0.00923232522368295,
+        0.15476351026667884
+      ],
+      "bbox_min_m": [
+        -0.05905347932845169,
+        -0.0046241416737797525,
+        -0.07736751736738333
+      ],
+      "bbox_max_m": [
+        0.05878210819219498,
+        0.004608183549903162,
+        0.07739599289929552
+      ],
+      "translation_world": [
+        1.8974431957949933,
+        8.465411113854984,
+        0.8182949417690749
+      ],
+      "rotation_wxyz": [
+        0.9348469336604596,
+        -0.0004965684471018722,
+        -0.00012082877795934106,
+        -0.355050629411948
+      ],
+      "yaw_degrees_local": -41.65181084524926,
+      "yaw_radians": -0.7259363048039252,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.8974431957949933,
+        8.465411113854984,
+        0.8956766969024144
+      ],
+      "z_min": 0.7409274244016916,
+      "z_max": 0.8956909346683705
+    },
+    {
+      "instance_id": "small_020",
+      "asset_uid": "small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_small_square_desk_clock_001_small_square_desk_clock_c5ba9bfd/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.09502434850465986,
+        0.07054029412165064,
+        0.09473225332250998
+      ],
+      "bbox_min_m": [
+        -0.047585696819531176,
+        -0.035244796490335475,
+        -0.04732305491474974
+      ],
+      "bbox_max_m": [
+        0.0474386516851287,
+        0.03529549763131514,
+        0.04740919840776025
+      ],
+      "translation_world": [
+        2.6486466313960833,
+        8.222098822252606,
+        0.7884020604607618
+      ],
+      "rotation_wxyz": [
+        0.8879587083655578,
+        -0.0004794343950531239,
+        -0.00017698157271410421,
+        -0.45992289686202215
+      ],
+      "yaw_degrees_local": -54.82298275107971,
+      "yaw_radians": -0.9558166045803566,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.6486466313960833,
+        8.222098822252606,
+        0.8357681871220167
+      ],
+      "z_min": 0.741079005546012,
+      "z_max": 0.835811258868522
+    },
+    {
+      "instance_id": "small_021",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.4281381322734106,
+        8.841001334944202,
+        0.7457323590703296
+      ],
+      "rotation_wxyz": [
+        0.9996800968648009,
+        -0.0005053517700510944,
+        7.615382292792927e-05,
+        0.025287205313483635
+      ],
+      "yaw_degrees_local": 2.839299147357792,
+      "yaw_radians": 0.050579719202961386,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.4281381322734106,
+        8.841001334944202,
+        0.7509682743884631
+      ],
+      "z_min": 0.7404792114012485,
+      "z_max": 0.7509510420375155
+    },
+    {
+      "instance_id": "small_022",
+      "asset_uid": "small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_058_laboratory_workbench_asset_000142_obj_003_silver_black_pen_9ad221f1/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.15046824091358368,
+        0.016709129015708417,
+        0.010471830636266985
+      ],
+      "bbox_min_m": [
+        -0.07535632757430365,
+        -0.008338399060594574,
+        -0.0052531476690811495
+      ],
+      "bbox_max_m": [
+        0.07511191333928002,
+        0.008370729955113839,
+        0.005218682967185832
+      ],
+      "translation_world": [
+        2.3095331496156617,
+        8.228317661532694,
+        0.7463687899506465
+      ],
+      "rotation_wxyz": [
+        0.16607462306187545,
+        -0.0001466898894649563,
+        -0.000489552747483937,
+        -0.9861130555849263
+      ],
+      "yaw_degrees_local": -160.93937352080195,
+      "yaw_radians": -2.8078974810660893,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.3095331496156617,
+        8.228317661532694,
+        0.75160470526878
+      ],
+      "z_min": 0.7411156422815653,
+      "z_max": 0.7515874729178323
+    },
+    {
+      "instance_id": "small_023",
+      "asset_uid": "small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0",
+      "asset_source": "sceneforge_base",
+      "category": "stationery",
+      "asset_usd": "assets/small_006_cafe_asset_000013_obj_002_brown_closed_notebook_e94ef7f0/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11543054429052188,
+        0.1447214377021927,
+        0.016472013504281402
+      ],
+      "bbox_min_m": [
+        -0.057914487462750026,
+        -0.07233461808319533,
+        -0.008167151368163008
+      ],
+      "bbox_max_m": [
+        0.05751605682777186,
+        0.07238681961899736,
+        0.008304862136118356
+      ],
+      "translation_world": [
+        1.7800716036720519,
+        8.408256111814373,
+        0.7491673791767526
+      ],
+      "rotation_wxyz": [
+        0.1874333813072549,
+        -0.00015727825203229484,
+        -0.00048625442689807823,
+        -0.98227718409414
+      ],
+      "yaw_degrees_local": -158.45263353917377,
+      "yaw_radians": -2.764495693756131,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.7800716036720519,
+        8.408256111814373,
+        0.7574033859288933
+      ],
+      "z_min": 0.7410002278085895,
+      "z_max": 0.7574722413128709
+    },
+    {
+      "instance_id": "small_024",
+      "asset_uid": "small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_069_conference_room_asset_000104_obj_003_silver_black_pen_58c37bde/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14081431435740693,
+        0.010932719832365583,
+        0.010670881390001616
+      ],
+      "bbox_min_m": [
+        -0.07041564387846111,
+        -0.005458798135198729,
+        -0.005363462746810083
+      ],
+      "bbox_max_m": [
+        0.07039867047894585,
+        0.005473921697166853,
+        0.005307418643191533
+      ],
+      "translation_world": [
+        1.731822036799128,
+        8.264628430233694,
+        0.7465154741812686
+      ],
+      "rotation_wxyz": [
+        0.9632327722238383,
+        -0.0005054909570365917,
+        -7.522438829623776e-05,
+        -0.26866776013166016
+      ],
+      "yaw_degrees_local": -31.22872697747519,
+      "yaw_radians": -0.5440192224468253,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.731822036799128,
+        8.264628430233694,
+        0.7518509148762694
+      ],
+      "z_min": 0.7411520114344585,
+      "z_max": 0.7518228928244601
+    },
+    {
+      "instance_id": "small_025",
+      "asset_uid": "small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c",
+      "asset_source": "sceneforge_base",
+      "category": "drinkware",
+      "asset_usd": "assets/small_065_restaurant_asset_000141_obj_001_clear_short_tumbler_glass_230c0f6c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.0722448496204253,
+        0.09473949743256345,
+        0.09421150137326491
+      ],
+      "bbox_min_m": [
+        -0.03613005038998982,
+        -0.047407195691710716,
+        -0.04709624827581457
+      ],
+      "bbox_max_m": [
+        0.03611479923043548,
+        0.04733230174085272,
+        0.04711525309745033
+      ],
+      "translation_world": [
+        3.7037973526023302,
+        8.22891971710802,
+        0.788034646953726
+      ],
+      "rotation_wxyz": [
+        0.8220955509251057,
+        -0.00038082918270655194,
+        0.0003408063230624871,
+        0.5693493162982906
+      ],
+      "yaw_degrees_local": 69.351028055629,
+      "yaw_radians": 1.2114283510090458,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.7037973526023302,
+        8.22891971710802,
+        0.8351403976403585
+      ],
+      "z_min": 0.7409383986779114,
+      "z_max": 0.8351499000511764
+    },
+    {
+      "instance_id": "small_026",
+      "asset_uid": "small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb",
+      "asset_source": "sceneforge_base",
+      "category": "small object",
+      "asset_usd": "assets/small_099_conference_room_asset_000006_black_insulated_bottle_001_black_insulated_bottle_db94fdeb/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.07604231025840172,
+        0.07659904225210888,
+        0.2603342990295383
+      ],
+      "bbox_min_m": [
+        -0.03797283130359886,
+        -0.03838410808543497,
+        -0.1299511631156362
+      ],
+      "bbox_max_m": [
+        0.03806947895480286,
+        0.03821493416667388,
+        0.13038313591390213
+      ],
+      "translation_world": [
+        3.041320100791071,
+        8.866931148632597,
+        0.8703264499603018
+      ],
+      "rotation_wxyz": [
+        0.6989757193972822,
+        -0.00030915690198666406,
+        0.0004069420427951883,
+        0.7151452177797429
+      ],
+      "yaw_degrees_local": 91.2515079891769,
+      "yaw_radians": 1.5936640277013994,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.041320100791071,
+        8.866931148632597,
+        1.000493599475071
+      ],
+      "z_min": 0.7403752868446656,
+      "z_max": 1.0007095858742039
+    },
+    {
+      "instance_id": "small_027",
+      "asset_uid": "small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a",
+      "asset_source": "sceneforge_base",
+      "category": "small_electronics",
+      "asset_usd": "assets/small_002_bedroom_asset_000006_obj_001_black_digital_alarm_clock_20d6ea6a/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.15532751116908652,
+        0.058397463080524105,
+        0.10784040458679639
+      ],
+      "bbox_min_m": [
+        -0.07765215476170773,
+        -0.029177373702911697,
+        -0.053910033979826244
+      ],
+      "bbox_max_m": [
+        0.0776753564073788,
+        0.02922008937761239,
+        0.05393037060697014
+      ],
+      "translation_world": [
+        3.198214557941336,
+        8.833061534548719,
+        0.7942997540525859
+      ],
+      "rotation_wxyz": [
+        0.4688553601163146,
+        -0.00029371997370485943,
+        -0.0004182205079705314,
+        -0.8832748100735043
+      ],
+      "yaw_degrees_local": -124.13866026114418,
+      "yaw_radians": -2.1656038715307298,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.198214557941336,
+        8.833061534548719,
+        0.8482199563459841
+      ],
+      "z_min": 0.7403897200727596,
+      "z_max": 0.848230124659556
+    },
+    {
+      "instance_id": "small_028",
+      "asset_uid": "small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c",
+      "asset_source": "sceneforge_base",
+      "category": "writing_instrument",
+      "asset_usd": "assets/small_049_conference_room_asset_000145_obj_002_black_pen_silver_tip_a7632a1c/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": true,
+      "dimensions_m": [
+        0.14669336843312303,
+        0.010879076015171726,
+        0.011297702426564228
+      ],
+      "bbox_min_m": [
+        -0.07330350165832994,
+        -0.005480480318788172,
+        -0.005650436269786875
+      ],
+      "bbox_max_m": [
+        0.07338986677479307,
+        0.0053985956963835515,
+        0.005647266156777354
+      ],
+      "translation_world": [
+        3.5264106686165535,
+        8.664653561024775,
+        0.7461693531044036
+      ],
+      "rotation_wxyz": [
+        0.705548800524082,
+        -0.0004026891239274662,
+        -0.0003146764778480311,
+        -0.7086611523847015
+      ],
+      "yaw_degrees_local": -90.31089976032835,
+      "yaw_radians": -1.5751977991137325,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        3.5264106686165535,
+        8.664653561024775,
+        0.7518182043176856
+      ],
+      "z_min": 0.7405189168346167,
+      "z_max": 0.7518166192611809
+    },
+    {
+      "instance_id": "small_029",
+      "asset_uid": "small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b",
+      "asset_source": "sceneforge_base",
+      "category": "clock",
+      "asset_usd": "assets/small_002_bedroom_asset_000009_obj_002_silver_twin_bell_alarm_clock_cec7512b/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.11532405590672026,
+        0.04846418201930751,
+        0.16248770658672995
+      ],
+      "bbox_min_m": [
+        -0.05767173929419351,
+        -0.02425634895976061,
+        -0.08118968849388664
+      ],
+      "bbox_max_m": [
+        0.05765231661252677,
+        0.024207833059546865,
+        0.08129801809284333
+      ],
+      "translation_world": [
+        1.82908026346526,
+        8.733503219618296,
+        0.8218538689120825
+      ],
+      "rotation_wxyz": [
+        0.41814731563928814,
+        -0.00026959548467703806,
+        -0.00043416366831192305,
+        -0.9083790845477684
+      ],
+      "yaw_degrees_local": -130.62335368048252,
+      "yaw_radians": -2.2787831518173776,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        1.82908026346526,
+        8.733503219618296,
+        0.9030977222054475
+      ],
+      "z_min": 0.7406641804181958,
+      "z_max": 0.9031518870049258
+    },
+    {
+      "instance_id": "small_030",
+      "asset_uid": "small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065",
+      "asset_source": "sceneforge_base",
+      "category": "office_supply",
+      "asset_usd": "assets/small_009_conference_room_asset_000034_obj_002_silver_black_ballpoint_pen_5c426065/small_asset.usd",
+      "quality_status": "ready",
+      "random_pose": false,
+      "dimensions_m": [
+        0.13808456825603943,
+        0.01011483806218321,
+        0.011634425533144727
+      ],
+      "bbox_min_m": [
+        -0.06910265867210486,
+        -0.005045998894088886,
+        -0.005940252662309726
+      ],
+      "bbox_max_m": [
+        0.06898190958393459,
+        0.005068839168094323,
+        0.005694172870834999
+      ],
+      "translation_world": [
+        2.399776582123166,
+        8.321933334964683,
+        0.7469495133304808
+      ],
+      "rotation_wxyz": [
+        0.07501863453631406,
+        -0.00010121516848780803,
+        -0.0005009344327437447,
+        -0.9971820010873095
+      ],
+      "yaw_degrees_local": -171.45412329090385,
+      "yaw_radians": -2.9914144136989838,
+      "support_surface_id": "ceo_office:S_0",
+      "support_parent_id": "ceo_office:executive_office_desk_0",
+      "support_parent_name": "executive_office_desk",
+      "support_mode": "table",
+      "support_source": "scenesmith_support_surface",
+      "floor_fallback": false,
+      "center_world": [
+        2.399776582123166,
+        8.321933334964683,
+        0.7527667260970531
+      ],
+      "z_min": 0.7410092606681711,
+      "z_max": 0.7526436862013157
+    }
+  ],
+  "variant_index": 199
+}